turtlebot3_obstacle_avoidance

This project involves the development of an basic obstacle avoidance algorithm for turtlebot3 robot in ROS2 Humble.

Installing Ros2 on Ubuntu 22.04

• ros2 can be installed from binary package or source files.
• Installation from binary(Debian Packag) is preferred.
• Use this link to install Ros2 Humble.

Video:

video12_AdobeExpress.mp4

Following dependent packages are required to run this ros package:

To install:

run below commands only if you have installed ROS2 Humble, from binary packages(Debian Package).

• turtlebot3 pkg:

sudo apt install ros-humble-turtlebot3*

• gazebo_ros_packages:

sudo apt install ros-foxy-gazebo-ros-pkgs

Clone the repo in to the src folder of your ROS Workspace:

cd ~/ros2_ws/src
git clone https://github.com/sairampolina/turtlebot3_obstacle_avoidance.git

Install dependencies for present package by:

• from the root of your ros workspace run below command.
• Any missing dependencies are notified.

rosdep install -i --from-path src --rosdistro humble -y

Build your package

from the root of your ros workspace run below command.

colcon build --packages-select tb3_obstacle_avoidance_pkg

Source setup files

. install/setup.bash

To launch walker algorithm on turtlebot3:

ros2 launch tb3_obstacle_avoidance_pkg walker_algorithm_launch.py

To launch walker algorithm and record all topics except /camera topic (using ROS bag) :

• Navigate to the folder where you want to store your bag
• ros2 bag parameters can be found in launch file

ros2 launch tb3_obstacle_avoidance_pkg walker_algorithm_launch.py record_topics:=True

To check the content of ROS bag:

ros2 bag info tb3_walker_bag/

To play the ROS bag:

ros2 bag play tb3_walker_bag/

Static code analysis

Cpplint

cpplint --filter=-build/c++11,+build/c++17,-build/namespaces,-build/include_order src/*.cpp &> ../results/cpplint.txt

Cppcheck

cppcheck --enable=all --std=c++17 src/*.cpp --suppress=missingIncludeSystem --suppress=missingInclude --suppress=unmatchedSuppression > ../results/cppcheck.txt