Walker TurtleBot

Overview

This repository consist node to move TurtleBot around gazebo world or its environment with obstaacle avoidance feature. The robot moves forward until it reaches an obstacle, then rotate left or right in place depending on obstacle until the way ahead is clear, and then move forward again and repeat. Also consist launch file with argument to record rosbag i.e. disable/enable.

License

MIT License
Copyright (c) 2021 Maitreya Kulkarni

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Dependencies

• Ubuntu 18.04
• ROS Melodic
• Turtlebot3 ROS Package

Installation

1. All turtlebot3 pakages install

   sudo apt-get install ros-melodic-turtlebot3-*

2. Only turtlebot3_gazebo package (If you dont want extra packages)

   sudo apt-get install ros-melodic-turtlebot3-gazebo 

3. Select TurtleBot Model and setup environmental variable for that

   echo "export TURTLEBOT3_MODEL=waffle pi" >> ~/.bashrc

Build your package

mkdir -p <your_workspace_name>/src
cd <your_workspace_name>/src
git clone https://github.com/Prat33k-dev/walker_turtlebot.git
cd <your_workspace_name>
catkin_make

Launching TurtleBot world and TurtleBot with launch file

1. Running launch file with rosbag record arguments

   cd <your_workspace_name>
   source devel/setup.bash
   roslaunch walker_turtlebot walker_bot.launch rosbag_record:=true

2. Running launch file without arguments (default rosbag record will be disable)

   cd <your_workspace_name>
   source devel/setup.bash
   roslaunch walker_turtlebot walker_bot.launch

Inspecting and Running rosbag file

1. Open your workspace in new terminal

   roscore
   cd ~/<your_workspace_name>/src/walker_turtlebot/results/
   rosbag info bag_file.bag
   rosbag play bag_file.bag

• Output for rosbag info
  

2. Verify using walker_bot node

   source devel/setup.bash
   rosrun walker_turtlebot walker_bot

• Output for rosbag play with walker_bot node

Run cppcheck and cpplint

• The Output txt files will be saved under results folder

For cppcheck

sh run_cppcheck.sh

For cpplint

sh run_cpplint.sh 

## Author
- Maitreya Kulkarni  UID: 117506075   
  Github URL: https://github.com/maitreya98