Obstacle Avoidance Robot Simulation

Building a differential drive robot which can avoid obstacles. The robot design and other requirements can be found in this PDF.
This work was done taking reference from here.

Prerequisites

• ROS
• Gazebo

Getting Started

1. Clone this repository.
2. Run catkin_make for both catkin_ws and simulation_ws.
3. Run source catkin_ws/devel/setup.bash and source simulation_ws/devel/setup.bash.
4. Launch your terminal and run the command roslaunch my_worlds <world_name>.launch. This will launch the gazebo enviroment
5. In another terminal, run the command roslaunch obst_avoidance_robot_description spawn.launch. This will load the robot in the environment at origin. It can be spawned at different location by giving additional arguments like x:=1 y:=2 z:=3.
6. In another terminal run rosrun motion_plan obstacle_avoidance.py. This will start the robot and obstacle avoidance algorithm.

Video

License

This project is licensed under the MIT License - see the LICENSE file for details