krawal19/walker_turtlebot

ROS-walker turtlebot

Reference for image: link

Project Overview

This project implements a object avoidance behavior using the motion base platform which is type of turtlebot, with simulation on gazebo. The turtlebot moves linearly and when it encounters a object it turns away to avoid the obstacle. The turtlebot also avoids the obstacles which are place in front of it while simulation is running. The rosbag file is generated in results directory, it can be played to see recoded published topics.

Dependencies

This ROS node is made to be used on systems which have:

• ROS Kinetic
• Ubuntu 16.04
• Turtlebot packages

To install ROS, follow the instructions on this link

To install Turtlebot simulation stack type, Run the following after installing ROS Kinetic on your ubuntu 16.04.

$ sudo apt-get install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers

Build Instructions

Build Catkin Workspace

Open terminal and run the following command to clone this repository in it. The below command will start turtlebot gazebo simulation and walker node.

$ git clone https://github.com/krawal19/walker_turtlebot.git catkin_ws/src/walker_turtlebot
$ cd catkin_ws

Build the package

Use the below command to build the ROS package

$ catkin_make

Running Instructions

To run code using launch command, open a new terminal window and run following command

$ cd <path to catkin_ws>
$ source devel/setup.bash
$ roslaunch walker_turtlebot turtle_walker.launch

To run each node separately using roscore, open a new terminal window and run following command

$ source /opt/ros/kinetic/setup.bash
$ roscore

In new terminal run

$ roslaunch  turtlebot_gazebo turtlebot_world.launch

Then is another terminal

$ rosrun walker_turtlebot walker

Recording rosbag file

From the above process Rosbag file is recorded in the results directory under the title turtlebot_walker.bag

To view the summary of the contents in the bag file, use the command below

$ cd <path to repository>/results
$ rosbag info turtlebot_walker.bag

Note: Data of ~30 seconds is recorded using the above command.

Playing rosbag file

Before running the previous recorded bag file close all the existing running processes and Run roscore and listener node by using the methods above. Then follow the commands below

$ cd <path to repository>/results
$ rosbag play turtlebot_walker.bag

After running the above command, recorded data output of the bag file will be same messages that are recorded.

Now to view the messages that are published on /cmd_vel_mux/input/navi

rostopic echo /cmd_vel_mux/input/navi

Similiarly we can echo other topics also to view published messages.

Logging

To visualise logger messages in Qt-based framework, run the commands below after running roscore and nodes as mentioned above

$ rosrun rqt_console rqt_console

Graphical visualization of ROS Nodes

Open a new terminal and run following command

$ rqt_graph