- ROS package containing a node to make a Turtlebot wander around with obstacle avoidance by simply moving forward and turning when an obstacle is detected
- ROS Indigo running on Ubuntu 14.04.
- Gazebo
- If you do not have ROS, download the bash script here and run it as sudo. Note: This script assumes you're running Ubuntu 14.04.
- roscpp
- rospy
- sensor_msgs
- geometry_msgs
- turtlebot_gazebo
- Open a terminal
mkdir -p catkin_ws/src
cd catkin_ws/src && catkin_init_workspace
git clone https://github.com/banuprathap/turtlebot_walker.git
cd ..
catkin_make
source ./devel/setup.bash- In your terminal
roslaunch turtlebot_walker navigate.launchcd ~/catkin_ws
source ./devel/setup.bash
roslaunch turtlebot_walker navigate.launch enable_record:=truecd ~/.ros/
rosbag info recording.bagYou will require rosdoc_lite package to create documents in ROS standards. You can get that by running
sudo apt-get install ros-indigo-rosdoc-liteOnce installed, run the following command replacing path with absolute path to the package in your file system. Assuming the catkin_ws is in your home directory, path would be ~/catkin_ws/src/turtlebot_walker/
rosdoc_lite path