Obstacle_avoidance-bot-using-ROS-and-GAZEBO

Simuulation of a urdf differential drive robot in ROS and GAZEBO which avoids obstacles

Table of Contents

• About the Project
  • Tech Stack
  • File Structure
• Getting Started
  • Prerequisites
  • Installation
• Usage
• Results and Demo
• Future Work
• Troubleshooting
• Contributors
• Acknowledgements and Resources
• License

About The Project

The aim of the project is used to simulate a two_wheeled robot using ROS and GAZEBO and make it avoid the obstacles by writting a python script. I have wriiten a urdf for the robot design and basic concepts of path planning are used to avoid obstacles.

Tech Stack

Software used for this project :

• ROS
• GAZEBO

Getting Started

Prerequisites

• ROS(Kinetic)
• GAZEBO(7)

Installation

1. Clone the repo
2. Run catkin_make
3. Launch your terminal and run the command roslaunch worlds <world_name>.launch. This will launch the gazebo enviroment
4. In another terminal, run the command roslaunch bot_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:=3 y:=8 z:=7.
5. In another terminal run rosrun path_planning obstacle_avoidance.py. This will start the robot and obstacle avoidance algorithm

Troubleshooting

1. Check the required versions of the software are correctly installed as it gives a lot of errors which doesn't mention this problem.
2. Check the identation while writing codes
3. Use proper package path and model name for launch files

Results and Demo

• 
• Video of Final Scene

Contributors

• MENTOR
  • NEHA KURIAN
• MEMBER
  • Ms. Tejal Bedmutha : [email protected]

Acknowledgements and Resources

• SRA VJTI
• ROS Tutorials
• ROS Tutorials

License

MIT License

Copyright (c) 2020 Tejal Bedmutha. Go to License for full license.