2D holonomic robot controlled using 2 ROS nodes to go to random targets
The repo is composed of 2 packages: assignment1 and my_srv2
my_srv2 package: contains tserver node, a service server used for calculating random targets (x,y) given min and max values
assignment1 packeage: contains controller node that is used to: receive robot's position by subscribing to /odom topic, request random target (x,y) from tserver, control the robot to go to the target using /cmd_vel topic, then requesting another random target (forever).
The rqt_graph of the program:
download the repository into your ros workspace
in the root of your workspace:
$ catkin_make
$ rosrun my_srv2 tserver
$ rosrun stage_ros stageros $(rospack find assignment1)/world/exercise.world
$ rosrun assignment1 controller