kamronbeksolih / vip2023-2_team_skynet

README - Webots - Obstacle avoiding robot simulation

12204505 Guliza Aitkulova

Code Overview

The code is a ROS (Robot Operating System) package that sets up a robot simulation for obstacle avoidance. It consists of several files:

• my_robot.urdf: This file defines the robot's structure and sensors using the URDF (Unified Robot Description Format) XML format.
• ObstacleAvoider.hpp and ObstacleAvoider.cpp: These files define a class called ObstacleAvoider that handles the obstacle avoidance logic. It subscribes to sensor data from the left and right distance sensors and publishes velocity commands to avoid obstacles.
• CMakeLists.txt: This file contains the CMake build instructions for the package, including dependencies and installation targets.
• robot_launch.py: This file defines the launch configuration for running the simulation. It launches the Webots simulator, the webots_ros2_driver node, and the obstacle_avoider node.

Building and Running

To build and run the code, follow these steps:

1. Open a terminal and navigate to the ros2_ws directory.
2. Build the package using the following command:

   colcon build --packages-select my_package
   

3. Source the setup script to add the package to the ROS environment:

   source install/local_setup.bash
   

4. Launch the simulation using the following command:

   ros2 launch my_package robot_launch.py
   

Additional Notes

• Make sure you have ROS 2 and the necessary dependencies installed before building and running the code.
• The launch file robot_launch.py assumes the presence of a world file named my_world.wbt in the worlds directory of the package. Make sure to provide the appropriate world file or modify the launch file accordingly.
• The code assumes the presence of the webots_ros2_driver package for interfacing with the Webots simulator. Make sure to install this package before building and running the code.

Here is the output screenshots