Obstacle-Avoidance-Using-ROS-And-Gazebo

This is the final project for Robocademy ROS Course. For this project we have to build a differential drive robot which can avoid obstacles. The robot design and other requirements can be found in this PDF

Update

This assignement was a fun learning experience as it touched multiple concepts in ROS like ros-messages, visuailization(rviz), simulations(gazebo) and many more. The problem statement currently is used at the Society of Robotics and Automation(SRA), VJTI to introduce students to ROS. I remember writing the code for this project in one night just before the deadline, as I was working at that time. So the code is “decent” but could have been better. The students at SRA have made these improvements, by adding their own perspective(some have integrated motion planning and mapping) to this assignment. You can find their unique approach below:

• Saurabh - https://github.com/Spnetic-5/Obstacle-Avoidance-Using-Ros-Gazebo
• Sravan - https://github.com/SravanChittupalli/Obstacle-Avoidance-Bot-Using-ROS
• Omkar - https://github.com/ombhilare999/Object-Avoider-using-ROS-and-Gazebo
• Saheti - https://github.com/Sahethi/obstacle-avoidance-robot
• Tejal - https://github.com/Tejal-19/Obstacle_avoidance-bot-using-ROS-and-GAZEBO
• Ninad - https://github.com/ninja3011/Obstacle-Avoidance-using-ROS-and-Gazebo
• Esha - https://github.com/esha0410/Obstacle-avoidance-ros-gazebo/tree/master
• Aryaman - https://github.com/Aryaman22102002/Obstacle-Avoidance

Thanks for reading and have a great day!!!

This Project is now archived and will receive no further updates(1st September, 2021)

Getting Started

1. Clone this repository in the src folder of your catkin workspace
2. Run catkin_make
3. Launch your terminal and run the command roslaunch exercise2 bot.launch. This will launch and load the robot in the gazebo enviroment
4. In another terminal, run the command rosrun exercise2 cmd_bot to start the robot and begin the obstacle avoidance course.

Prerequisites

• ROS
• Gazebo

Video

To-Do / Improvements

• Use xacro to define the model to make it more readable and configurable

License

This project is licensed under the MIT License - see the LICENSE file for details