Generates random targets from a feasible target space and records commands to a ros bag.
mkdir -p turtlepi_ws/src
git clone https://github.com/surfertas/turtlepi.git turtlepi_ws/src
cd turtlepi_ws/src
# Install turtlebot packages for melodic
./install_all.sh
cd ..
catkin build
source devel/setup.bash
To run open three separate windows. Don't forget to source devel/setup.bash if not done so already for each window.
Window 1: Launch Gazebo, Rviz. The world env0.world is defined in /models/env0.
cd turtlepi_gazebo/launch
roslaunch turtlepi.launch
Window 2: Start up recorder. Specify which topics to record by editing
turtlepi.yaml in /config. Make sure to update the path to bag to store the recordings.
cd turtlepi_recorder/launch
roslaunch turtlepi_recorder.launch
Window 3: Start up random target generator.
cd turtlepi_navigate/launch
roslaunch turtlepi_gentarget.launch
This generate targets and bag files will be automatically generated and stored
in the directory specified in /turtlepi_recorder/config.
TODO:
- Currently trying to figure out how to record tf and cmd_vel by syncing with other topics.