This project is to create a differential drive bot to avoid obstacles. The details are provided in this PDF.
- The Aim of the Project is to make a differential drive robot and simulated the designed robot in Gazebo. We further create a ROS node which performes obstacle avoidance with the help of a laser scanner.
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├── assets
│ ├──robot.png
├── launch
│ ├── rviz.launch
| ├── spawn.launch
│ └── world.launch
├── scripts
│ ├──obstacle_avoid.cpp
│ ├──obstacle_avoidance.py
│ ├──reading_laser.py
├── urdf
│ ├──gazebo.xacro
│ ├──macros.xacro
│ ├──materials.xacro
│ ├──robot.xacro
├── worlds
│ ├──world01.world
│ ├──world02.world
│ ├──world03.world
├── .catkin_workspace
├── CmakeLists.txt
├── License.md
├── Obstacle Avoidance Using ROS and Gazebo.pdf
├── README.md
└── package.xml
- ROS
- Gazebo
- Clone the project
https://github.com/Sahethi/obstacle-avoidance-robot.git
cd obstacle-avoidance-robot
- Run catkin_make and open three terminals.
- In first terminal, run the command
roslaunch my_worlds world.launch. This will open your simulation of the world in Gazebo. - In another terminal, run this command
roslaunch obstacle_avoidance_robot spawn.launch. This will launch your robot in your Gazebo environment.- You can also add parameters to it like this
roslaunch obstacle_avoidance_robot spawn.launch x:=1 y:=2 z:=4. It is not necessary to mention all three values together, you can mention on x or y or z.
- You can also add parameters to it like this
- In your last terminal, run this command
rosrun obstacle_avoidance_robotobstacle_avoidance.py. This is a python script which enables your bot to avoid obstacles.
The License used for this Project.