Gazebo Assignment Week12: TurtleBot3 Walker

Title

Gazebo Assignment: To implementat a algorithm to run TurtleBot 3 in to avoid obstacles and collisions.

ROS2 Dependencies

ROS2 Humble
gazebo_ros
turtlebot3

Build Instructions

Source setup file first

. <path-to-ROS2-installation>/ros2_humble/install/local_setup.bash

cd <path-to-ROS2-workspace>/ros2_ws/src
git clone the link to this repo
cd ..  
rosdep install -i --from-path src --rosdistro humble -y
colcon build --packages-select Turtle_Bot_3_walker

Run Instructions

Simulation

In a terminal, navigate to your ROS2 workspace (ros2_ws) and source the setup files,

export TURTLEBOT3_MODEL=waffle_pi

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`ros2 pkg prefix turtlebot3_gazebo `/share/turtlebot3_gazebo/models/

export TURTLEBOT3_MODEL=waffle_pi

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`turtlebot3_gazebo `/share/turtlebot3_gazebo/models/

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

and run the walker node in another terminal as follows:

ros2 run turtlebot3_walker walker

Results

To run Cppcheck

cppcheck --enable=all --std=c++17 ./src/*.cpp ./include/turtlebot3_walker/*.hpp --suppress=missingIncludeSystem --suppress=unmatchedSuppression --suppress=unusedFunction --suppress=missingInclude --suppress=useInitializationList > results/cppcheck.txt

To run Cpplint

cpplint --filter=-build/c++11,+build/c++17,-build/namespaces,-build/include_order ./src/*.cpp ./include/turtlebot3_walker/*.hpp > ./results/cpplint.txt

ROS2 bag recording

To record the ros2 bag you need to do the following

ros2 bag info walker_bag
ros2 bag play walker_bag

Issues:

ROS bag file were not recorded due to errors

mayankysharma / Week12_HW