anukritisinghh/walker_bot

A walker algorithm using ros2 and turtlebot waffli pi

walker_bot

A walker algorithm using ros2 and turtlebot waffli-pi to avoid obstacles.

Dependencies

• Ubuntu 22.04
• ROS2 Humble
• Turtlebot3 ROS Package

Installation

1. All turtlebot3 pakages install

   sudo apt install ros-humble-turtlebot3*

2. Humble and Gazebo ROS packages

   sudo apt install ros-humble-gazebo-ros-pkgs 

3. Set up gazebo model path

   export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`ros2 pkg \
   prefix turtlebot3_gazebo \
   `/share/turtlebot3_gazebo/models/

Build your package

mkdir -p <your_workspace_path>/src
cd <your_workspace_path>/src
git clone https://github.com/AnukritiSinghh/walker_bot.git
cd <your_workspace_path>
colcon build --packages-select turtlebot3_walker

Launch

cd <your_workspace_path>/ros2_ws
source  install/setup.bash
ros2 launch turtlebot3_walker walker.launch.py enable_recording:=true

ros bag recording

ros2 bag info walker_bag

• Output

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