- Git clone that repo from the base dir
- cd RRT_turtlesim
- docker compose build
- docker compose up
- split the terminator window that appears with shift+ctrl+e
- colcon build
- ros2 run turtlesim turtlesim_node
- split the terminator window again
- ./gen_obst.sh This will place bunch of turtles where I've hard coded the obstacles. Eventually these hard coded obstacles will be replaced with octomap.
- ros2 run rrt_python rrt At this point the main turtle should be listening to that ros topic for goal positions.
- Split terminator window one more time
- rqt
- Use the rqt topic publisher to manually publish the desired goal location to /move_base_simple/goal A good range to publish goal locations is between [1,10] for both x and y. Turtle will get stuck if it tries to move beyond the walls.