In this project you'll find a robot that can follow a wall.

It was developed using ROS and STDR Simulator.

It was designed to analyse the laser sensors it has and keep track of the wall.

It was tested using a 'W' shaped map, both on the inside and outside walls.

This project was developed under Ubuntu 16.04 with ROS Kinetic, compatibility with older or newer versions is not guaranteed.

The project requires the following dependencies installed:

• ROS Kinetic and proper build tools installed
• A properly configured catkin workspace
• The STDR simulator packages installed in ROS
• A Python interpreter, version 2.7 or equivalent/compatible

1. Copy the directory containing this code into your catkin workspace's src folder to create a package for this project.
2. Open a terminal at the root of your catking workspace and run catkin_make to compile.

Open a terminal and run the roslaunch <package_name> <launcher> command:

• <package_name> - replace with the package name of this project.
• <launcher> - replace with one of the provided launchers.

For example: roslaunch wall_follower server_with_map_gui_and_2_simplex.launch

Open a terminal for each robot spawned and launch the nodes with the following command: rosrun wall_follower avoid_wall.py <id>

Replace <id> with the respective id of the robot you wish to control.

For example: rosrun wall_follower avoid_wall.py 0 Or: python avoid_wall.py 1