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Obstacle Avoidance Bot

This project is to create a differential drive bot to avoid obstacles. The details are provided in this PDF.

Table of Contents

About The Project

  • 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.

File Structure

.
├── 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

Tech Stack

  • ROS
  • Gazebo

Installation

  • 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.
  • In your last terminal, run this command rosrun obstacle_avoidance_robot obstacle_avoidance.py. This is a python script which enables your bot to avoid obstacles.

Video

Video

Acknowledgements and Resources

Authors

License

The License used for this Project.