ashwindisa/diff_drive

Differential-drive-obstacle-avoidance

Create a catkin package and build it

$ mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ git clone https://github.com/AshwinDisa/Differential-drive-obstacle-avoidance.git
$ cd ..
$ catkin_make

Source your workspace where you cloned the repository

$ gedit ~/.bashrc

Add source ~/(YOUR_WORKSPACE_NAME)/devel/setup.bash at the end of the text file and restart the terminal

IMPORTANT: Copy paste the /obstacle folder from /catkin_ws/src/robot_gazebo/worlds/gazebo to /.ros/models

Load the model and world into the Simulator

$ roslaunch robot_gazebo main_urdf.launch

Test if the simulation is working with teleoperation

$ roslaunch robot_gazebo teleop_key.launch   

NOTE: The simulator starts in a paused mode, click the pause/play icon at the bottom of the screen

Try the obstacle avoidance script

$ cd catkin_ws/src/robot_gazebo/scripts
$ chmod +x avoidance.py
$ ./avoidance.py