Repository of the code for the project of Robot Programming 2021/22,"La Sapienza" University of Rome.
Collision avoidance project.
-
Go in the
src
folder of your catkin workspace. -
Download the C++ teleop_twist_keyboard package to move the robot in the environment using the keyboard.
git clone https://github.com/methylDragon/teleop_twist_keyboard_cpp.git
- Download the avoidance package.
git clone https://github.com/antoniopurificato/collision_avoidance.git
- Build the project.
cd .. && catkin build && source devel/setup.bash
-
Go in the catkin workspace.
-
Start the roscore.
roscore
- Open a different window and run the teleop_twist_keyboard.
source devel/setup.bash && rosrun teleop_twist_keyboard_cpp teleop_twist_keyboard cmd_vel:=cmd_vel_call
- Open a different window and run the avoider.
source devel/setup.bash && rosrun collision_avoidance collision_avoider
- Open a different window and run the stage.
source devel/setup.bash && cd src/srrg2_configs/navigation_2d/ && rosrun stage_ros stageros cappero_laser_odom_diag_obstacle_2020-05-06-16-26-03.world
Come back to the terminal window with the teleop_twist_keyboard active and use the keyboard to move the robot.
- Create a ROS node;
- Complete the subscriber for the velocity;
- Complete the subscriber for the laser scan;
- Write the report;