iamjadhav / iturtlebot_roomba

ENPM808X - Task to Implement Walker Algorithm on the Turtlebot in a Gazebo Environment

Turtlebot_Roomba

Overview

A Task to Implement Walker Algorithm on the Turtlebot3 in a Gazebo Environment which demonstates the turtlebot's ability to avoid obstacles and keep walking around an obstacle filled environment

Dependencies

• Ubuntu 18.04 LTS
• ROS Melodic
• Modern C++ Programming Language
• Roscpp Package
• Std_msgs Package
• Geometry msgs Package
• Catkin_Make Build System

Demo

• Link

Build

Create a Catkin Workspace and cd into it

cd ~/catkin_ws
catkin_make

Clone the repository

cd src
git clone https://github.com/iamjadhav/iturtlebot_roomba.git

Run

In a New Terminal, run the code using launch file

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch iturtlebot_roomba turtle_launch.launch

ROSBAG

• Recording a bag

The rosbagEnable argument is disabled by default. To record a rosbag: launch the nodes with the following commands,

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch iturtlebot_roomba turtle_launch.launch rosbagEnable:=true

• Playing the bag

To play a rosbag: while the nodes are launched OR a separate roscore is running,

in a different terminal, cd to the directory where rosbags are stored and type,

cd cakin_ws/src/iturtlebot_roomba/results
rosbag play recordedbag.bag

• Compressing the Rosbag

To compress the rosbag: in one terminal, type,

cd cakin_ws/src/iturtlebot_roomba/results
rosbag compress recordedbag.bag

• Inspecting the bag

To inspect a recorded bag file: cd into the directory where rosbags are stored and type,

rosbag info recordedbag.bag