About

The aim of the project is to design and implement an pathfinding algorithm to be used with the turtlebot 3 -robot. The implemented algorithm is set to be ran on a simulated environment, which is ran on a computer running ubuntu and the ROS operating system. it is a student project belong to the Software Factory Project course of Oulu University.

Installation

In order to run this software you need to install the following softwares

• Ubuntu 16.04
• ROS (Kinetic distribution)
• Gazebo simulator
• Turtlebot 3 packages on ROS Kinetic

Final Delivery (FinalRelease)

This repository contains all the examples which the Team D have done during the Software Factory Project Course, in order to review the Final release of the project, please go to /ROS/FinalRelease folder and take a look at readMe.txt file.

Team D

this section belongs to the Team members. Clone all the file to ~/[catkin_workspace]/src

This repo contain multiple examples on how to carry out the pathfinding task.

First example

talker.py and listener.py files belong to the first example if you want to run this example

1. first you need to clone in you machine

2. make the files executable using linux cmd chmod +x talker.py chmod +x listener.py

3. $ cd ~/catkin_ws $ catkin_make

4. run the roscore using following cmd (open new terminal) $ roscore

5. Running the Publisher (open new terminal) catkin specific If you are using catkin, make sure you have sourced your workspace's setup.sh file after calling catkin_make but before trying to use your applications: In your catkin workspace $ cd ~/catkin_ws $ source ./devel/setup.bash

$ rosrun beginner_tutorials talker (C++) $ rosrun beginner_tutorials talker.py (Python)

Running the Subscriber(open new terminal)

$ rosrun beginner_tutorials listener (C++) $ rosrun beginner_tutorials listener.py (Python)

Second Example (Move Turtlebot in Gazebo world)

after clone the [turtlebot] folder to ~/your catkin_workspace/src

1. launch turtlebot in gazebo world by typing following cmd n terminal $ roslaunch turtlebot_gazebo turtlebot_world.launch
2. run goforword.py (new terminal) $ cd ~/catkin_ws/src/turtlebot/scripts $ python goforward.py pythone see turtlebot is moving