shivangg / tb2_avoid_wall

TurtleBot avoids wall using RL

Steps to Reproduce on the ROS Development Studio (RDS)

1. Start the simulation of the Turtlebot2 (TB2) with a wall in front of it.

Go to the Simulations Tab and navigate to the TB2 simulation and start it.

2. Open a terminal in the run the command

roslaunch tb_wall_avoider start_training_wall.launch

And you will see the robot start learning using Qlearning(RL).

To run it on your own ROSject

1. Start the simulation as suggusted above.

Install the tb_wall_avoider package

cd ~/catkin_ws/src
git clone https://github.com/shivangg/tb2_avoid_wall.git  # to clone this repo
cd ~/catkin_ws # catkin_make always run from this location
catkin_make #to compile the package 
source devel/setup.bash
roslaunch tb_wall_avoider start_training_wall.launch