Overview

A* on Project 2 is done in Matlab

Project 3 is done in ROS and Gazebo with C++

• Turtlebot 3 was used.
• The world is first converted to 2D map with SLAM.
• The radius of the robot is traced around the obstacle to plan for a point robot. (Matlab was used).
• The main code plans the path and publishes the velocity in order at an interval of 0.5 seconds.

A* ON PROJECT 2

• Run main.m file

PROJECT 3

Running code Requires OpenCV installation:

https://docs.opencv.org/3.4.0/d7/d9f/tutorial_linux_install.html

 sudo apt-get install build-essential
 sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
 sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

Launch the RRL world with robot pose

To open the RRL in gazebo, run the command:

 $ roslaunch turtlebot3_gazebo turtlebot3_rrl.launch

To run the algorithm

 $ rosrun project3 Main

The twist.txt contains the twist values to be applied at an interval of 0.5 seconds

References:

Follow this link on guide to SLAM the workspace:

http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/

Run the map_server to create a publisher node:

$ rosrun map_server map_server ~/planning_ws/src/project3/map.yaml