Husky robot navigation
Authors: Jacopo Raffi - Simone Marzeddu
A Husky robot has to navigate a maze using its on-board camera. The robot moves towards visual cues to guide it towards the exit.
How to run
Executing the following commands in order will start the Gazebo simulation:
-
roscore & sleep 1 ; rosparam set use_sim_time true-> start ROS master node, -
rosrun gazebo_ros gzserver braitenberg_nav_project/maze.sdf-> set up the simulation environment in Gazebo, -
gzclient-> activate a visual representation of the simulation, -
cd braitenberg_nav_project/-> set the Linux shell path inside the main folder, -
python3 -m sm.lights_switcher-> generate human targets in the simulation environment, -
cd ROS_Plugins/catkin_ws/src/-> set the Linux shell path inside the ROS_Plugins/catkin_ws/src/ folder, -
rosrun robot_vision yolo_node.py-> start the robot vision module, -
rosrun robot_control pid_controller.py-> start the robot control module.