gpsbot-pl / wavefront-gradient-descent-implementation-for-turtlebot

Wavefront-Gradient-Descent-implementation-for-Turtlebot

This requires you to install Turtlebot package and other dependencies for ROS Hydro.

The Rviz scene shows a 15x15 tile environment with a turtlebot right in the central tile.

The wavefront planner computes the shortest path from each tile to a specified goal position.
Each free square is represented by a “0”, obstacles are represented by a “1” and the goal
position will be represented by a “2”.
Launch the wavefront planner using : roslaunch assignment2 turtlebot_wavefront.launch
Publish goal in a separate terminal like so: rosrun assignment2 publish_goal -6 6

The gradient descent algorithm uses the computed wavefront to send the turtlebot to the specified destination
on the shortest path, while avoiding obstacles.
Launch the simulator and planner together with:
roslaunch assignment2 turtlebot_planner.launch
Publish goal in a separate terminal like so: rosrun assignment2 publish_goal -6 6