Roomba Robot

Overview

ROS package to simulate multiple behaviors on a robot

Dependencies

• Ubuntu 16.04
• ROS Kinetic
• Gazebo

Install Dependencies

• This project was developed using ROS Kinetic.
• It is highly recommended that ROS Kinetic is properly installed on your system before the use of this project.
• Follow the instructions on this link to install Full-Desktop Version of ROS Kinetic.
• The full-version would help you install Gazebo as well. If you have ROS Kinetic pre-installed on your machine, use the following link to install Gazebo on your machine.
• Ensure successful installation by running Gazebo via your terminal window:

gazebo

• A window of Gazebo Simulator should be launched.
• Create your ROS workspace by following instructions on this link.

Build

• Switch to your src sub-directory of your ROS workspace to clone this repository.

<ROS Workspace>/src

• Run the following commands to clone and build this project:

git clone --recursive https://github.com/urastogi885/obstacle_avoidance_simulation
cd robot_behaviors/
chmod +x reading_laser.py
chmod +x obstacle_avoidance.py
chmod +x wall_following.py
cd ../../
catkin_make

Run

• In the same terminal, run:

roscore

• Open a new terminal, switch to the ROS workspace, and launch the manual mode:

cd <ROS Workspace>
source devel/setup.bash
roslaunch my_first_robot manual_mode.launch

• A 2-wheeled bot will open up on the Gazebo Simulator and you will be able to control the robot with standard teleop commands.
• Change your camera view to have better look at the movement of the robot.
• Stop execution using Ctrl+C.
• Open a new terminal, switch to the ROS workspace, and launch the obstacle avoidance node:

cd <ROS Workspace>
source devel/setup.bash
roslaunch my_first_robot follow_wall.launch

• The robot will display obstacle avoidance along with wall-following behavior.
• Change your camera view to have better look at the movement of the robot.
• Stop execution using Ctrl+C.