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Simulation Videos - This drive link contains 2 simulation video files.

Part 01

Libraries Used

• numpy
• pynput
• math
• matplotlib.pyplot
• time
• heapq
• matplotlib.patches
• rclpy.qos
• geometry_msgs.msg
• random

Instructions to run the code

Part 1

• Executable file: proj3_phase2_part1.py
• Run command: python3 proj3_phase2_part1.py

Part 1 Test Case 1

• Inputs to the terminal: Enter clearance of robot: 10
  Enter the Low RPM: 5
  Enter the High RPM: 9
  Enter starting x, y, orientation separated by spaces in mm: 500 1000 0
  Enter goal x coordinates and y coordinates in mm: 5500 1000
  

Part 02

Main Executable Files

• competition_world.launch.py
• turtlebot_path_follower.py
• ROS package: turtlebot3_project3

Commands

1. ros2 launch turtlebot3_project3 competition_world.launch.py
2. ros2 run turtlebot3_project3 turtlebot_path_follower.py

Instruction to run the code

1. Place the ROS package in src folder.
2. Run colcon build.
3. Source install/setup.bash.
4. Launch with ros2 launch turtlebot3_project3 competition_world.launch.py.
5. Run the following command in a separate terminal after sourcing install/setup.bash and ROS: ros2 run turtlebot3_project3 turtlebot_path_follower.py
6. If the ros2 run command does not execute and you get the error: "no executable found", then go into the script folder and run this command to launch the python file: python3 turtlebot_path_follower.py

Part 2 Test Case 1

• Inputs to the terminal: Enter clearance of robot in mm: 10
  Enter the Low RPM: 5
  Enter the High RPM: 9
  Enter Goal node x coordinate in mm: 3000 1700
  Enter Goal node y coordinate in mm: 3000 1700
  

export TURTLEBOT3_MODEL=waffle