TurtlebotWalker

This ROS package consists of a node to make a Turtlebot move around avoiding obstacles.

LICENSE

This program is under MIT License. A copy of the license can be obtained from here

Copyright (c) 2017 Pranav Dhulipala

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

DEPENDENCIES

Ubuntu 16.04

ROS kinetic is required to run these nodes and can be installed by following the instructions provided here

Gazebo

Turtlebot simulation stack

BUILD INSTRUCTIONS

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

USING THE LAUNCH FILE

Run the below commands in the terminal

cd catkin_ws
source devel/setup.bash
roslaunch turtlebot_walker walker.launch 

To enable recording of all topics except camera.Run the below commands in the terminal

cd catkin_ws
source devel/setup.bash
roslaunch turtlebot_walker walker.launch record:=true 

The bag file will be stored in the results folder as record.bag

USING ROSBAG

To inspect the recording enter the following commands in the terminal

cd ~/catkin_ws/
source devel/setup.bash
cd src/TurtlebotWalker/results
rosbag info record.bag

To play back the recording enter the following commands in the terminal and make sure roscore is running

cd ~/catkin_ws/
source devel/setup.bash
cd src/TurtlebotWalker/results
rosbag play record.bag