suchetanrs/obstacle-detection-mapping

obstacle-detection-mapping

Video Demonstration

This is a video demonstration of mapping of the turtlebot's environment.

Explanation

map_animation.py subsribes to the /odom topic to localize the robot's position and /scan topic to map the obstacles.
This obstacle mapping is then converted to a binary occupancy grid for further use.

How to use

Setting up your environment

1. Clone this repository into your catkin_workspace
2. Run cd catkin_ws && catkin_make
3. Roscore roscore
4. Export your turtlebot model. EXPORT TURTLEBOT3_MODEL=waffle
5. Loading up your gazebo roslaunch obstacle_detection_mapping automation_task.launch
6. Run rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Running the scripts

1. roscd obstacle_detection_mapping/scripts
2. Making the files executable 2.1 chmod +x map_animation.py 2.2 chmod +x occupancy_grid.py
3. Run the mapping script rosrun obstacle_detection_mapping map_animation.py
   This will do your job, if in case you want to see the live occupancy grid plot, execute the command rosrun <package_name> occupancy_grid.py
   The occupancy grids co-ordinates can also be obtained with the command rosservice call /get_obstacles_grid

Hope you have fun running this and is useful to you!