ROBOT PROGRAMMING

Repository of the code for the project of Robot Programming 2021/22,"La Sapienza" University of Rome.
Collision avoidance project.

Setup

0. Go in the src folder of your catkin workspace.

1. 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

2. Download the avoidance package.

git clone https://github.com/antoniopurificato/collision_avoidance.git

3. Build the project.

cd .. && catkin build && source devel/setup.bash

Execution

0. Go in the catkin workspace.

1. Start the roscore.

roscore

2. 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

3. Open a different window and run the avoider.

source devel/setup.bash && rosrun collision_avoidance collision_avoider

4. 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.

TODO:

• Create a ROS node;
• Complete the subscriber for the velocity;
• Complete the subscriber for the laser scan;
• Write the report;