vijay4313 / turtlebot_rhoomba

Rhoomba emulator with turtlebot model in ROS

Turtlebot - Walker - ROS turtlebot project for simple automated driving | ENPM 808X

Overview

An implementation of ROS turtlebot package for a simple autonomous driving with collision avoidance:

Dependencies

• The implementation setup requires ROS kinetic, catkin, ROS turtlebot package, Gazebo running on Ubuntu 16.04 distribution
• Follow the tutorial to install ROS
• Follow the link to install catkin
• To install turtlebot dependencies:

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

Building the repo via command-line

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone --recursive https://github.com/vijay4313/turtlebot_rhoomba.git
cd ..
catkin_make

Running Demo

To run with launch file

cd ~catkin_ws
source ./devel/setup.bash
roslaunch turtlebot_rhoomba turtlebot_rhoomba.launch

The launcher will launch a gazebo interface with turtlebot in motion. to exit the simulation, in the terminal, press Ctrl+C

To run without launch file

In a new terminal type:

roscore

In another terminal, launch the turtlebot gazebo world

cd ~catkin_ws
source ./devel/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch

In another terminal, launch the turtlebot_rhoomba package

cd ~/catkin_ws
source devel/setup.bash
rosrun turtlebot_rhoomba turtlebot_rhoomba_node

To stop the simulation, press Ctrl+C on all active terminal

Recording & Playing ROS messages

• To Record all the topics (except the camera topics) from turtlebot from launch file:

cd ~catkin_ws
source ./devel/setup.bash
roslaunch  turtlebot_gazebo turtlebot_world.launch record:=1

The recorded bag file is saved in ~/catkin_ws/src/turtlebot_rhoomba/results/ as turtlebot_record.bag

• Playing the recorded messages

rosbag play <path to turtlebot_record.bag file>

Note: For rosbag playback, Gazebo shouldn't be working. To stop the playback, press Ctrl+C on the terminal.