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a-star-on-turtlebot's Introduction

ENPM 661: Path Planning for Autonomous Robots

A_Star Implementation on Turtlebot

Instructions for Project3- Phase2

Setup

Create a workpace

mkdir -p project3_ws/src
cd ~/project3_ws/src

Clone the reposiory

git clone https://github.com/shantanuparabumd/turtlebot3_project3.git

Source ROS (Enable ROS commands)

source /opt/ros/galactic/setup.bash

Build the workspace

cd ~\project3_ws
colcon build --packages-select turtlebot3_project3

Source ROS (Package will be identified)

source install/setup.bash

Test Setup

Launch Environment

ros2 launch turtlebot3_project3 competition_world.launch

Explore Topics

ros2 topic list

Publish to topic (cmd_vel)

ros2 topic pub \cmd_vel geometry_msgs/msg/Twist "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.1"

Write a script

We have provide a script fro reference in teleop.py

You can run the script using

ros2 run turtlebot3_project3 teleop.py

Add new Python executable

  • Write a new python script and store it in a folder
  • Update the CMakeLists.txt file
# Install python scripts

install(PROGRAMS 
  scripts/teleop.py
  # You can add more scripts here
  DESTINATION lib/${PROJECT_NAME}
)
  • Build the package
  • Source the install folder
  • Run the executable
ros2 run turtlebot3_project3 teleop.py

Error

  • Pynput Module Not Found
pip install pynput

a-star-on-turtlebot's People

Contributors

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Watchers

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Forkers

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