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Obstacle Avoidance on Turtlebot

Build Status License

Overview

ROS package to simulate obstacle avoidance behavior on a turtlebot using laser sensor. A custom world created to test the robot's behavior.


Figure 1 - Custom world created test the robot's behavior

Dependencies

  • Ubuntu 16.04
  • ROS Kinetic
  • Gazebo
  • Turtlebot Packages

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.
  • Install the necessary turtlebot packages:
sudo apt install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers

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 ..
catkin_make

Run

  • In the same terminal, run:
roscore
  • Open a new terminal, switch to the ROS workspace, and launch the obstacle avoidance node:
cd <ROS Workspace>
source devel/setup.bash
roslaunch turtlebot_obstacle_avoidance obstacle_avoidance.launch enableRosBag:=false
  • A turtlebot world will open up on the Gazebo Simulator and you will be able to see the robot avoiding various obstacles in its path.
  • Change your camera view to have better look at the movement of the robot.
  • Stop execution using Ctrl+C.

Generate/View Rosbag File

  • You can either generate a new ROS bag file or play the rosbag file included in the results directory.
  • To generate a new bag file, launch the obstacle avoidance node. (You can skip this step if you just want to play the previously generated bag file)
roslaunch turtlebot_obstacle_avoidance obstacle_avoidance.launch enableRosBag:=true
  • The bag file would have been replaced with new data.
  • To play the ROS bag file, make sure nothing is running except roscore, open a new terminal window, and run :
cd <ROS Workspace>
source devel/setup.bash
cd src/obstacle_avoidance_simulation/worlds
rosrun gazebo_ros gazebo turtlebot_enclosed_world.world
  • The above commands will help you launch the turtlebot world in Gazebo.
  • Open a new terminal, switch to ROS workspace, and run:
cd <ROS Workspace>
source devel/setup.bash
cd src/obstacle_avoidance_simulation/results
rosbag play record_obstacle_avoidance.bag
  • You should be able to see the obstacle avoidance behavior on turtlebot in the Gazebo window.
  • You can also verify the bag file by running: (Stop the execution of last command before proceeding any further by using Ctrl+C)
rosbag info record_obstacle_avoidance.bag

Documents

  • These are located in the results sub-directory:
    • Cpplint - cpplint_output.txt
    • Cppcheck - cppcheck_output.txt
    • Rosbag - record_obstacle_avoidance.bag
    • RQT Graph Output - rqt_graph.png
    • Turtlebot World - customized_turtlebot_world.png