championway / gazebo_test

gazebo_test

Installation

package

$ sudo apt-get install ros-kinetic-gazebo-ros-*

Function

pre-work

$ cd gazebo_test/catkin_ws
$ source environment.sh

Note: Do it everytime as you open new terminals

Pure Pursuit

Open gazebo with one mobile robot
$ roslaunch launch_gazebo duckiebot.launch 

Run pure pursuit algorithm
$ roslaunch pure_pursuit pure_pursuit.launch lookahead:=0.5

Open Rviz to see the odometry
$ roslaunch pure_pursuit viz.launch 

Note: To change the path, please modify the following file

gazebo_test/catkin_ws/src/pure_pursuit/config/path/path.yaml

Obstacle Avoidance

Open gazebo with one mobile robot & Point cloud clustering
$ roslaunch launch_gazebo obstacle.launch

Obstacle coordinate processing
$ roslaunch launch_gazebo coordinat_tf.launch

Building global map (Not done yet)
$ rosrun coordinate map.py

Run RRT algorithm
$ rosrun rrt rrt.py

Run pure pursuit algorithm
$ roslaunch pure_pursuit pure_pursuit_gps.launch lookahead:=0.8