RESEARCH-TRACK-ASSIGNMENT-3

OBJECTIVE

This assignment is a C++ program describes the robot executing on the behaviours listed below.

1. Autonomously reach a User entering Co-ordinates X and Y.
2. Control or Move the robot using keyboard keys.

HOW IT WORKS

Here firstly we launch the simlation_gmapping.launch file which opensup the robot in RVIZ and robot world (map) in gazebo respectively.

And secondly, the move_base package requires to send the goal to the topic move_base/goal by sending the message type move_base_msgs/MoveBaseActionGoal, and by same we do for feedback and current goal also. For this we launch the move_base.launch file.

In the last we have the robot.cpp file where 3 publishers and subscribers are declared position of the goal, goal coordinates and laser scanner for manual driving assistance respectively. All these subscribers are run simultaneously by multithreading concept.

So by these the robot can: 1.Reach the goal autonomously -User enters the x and y coordinates where the robot should go. Publishes the goal enters to move_base/goal. 2.User control using keybaord -User can control the robot using the list of commands (keyboard keys) and move accordingly.

INSTRUCTIONS TO RUN THE CODE

Step 1 : Open the terminal and go to src of your ROS workspace and run -

git clone https://github.com/Nirmalkumar-007/RESEARCH-TRACK-ASSIGNMENT-3.git

Step 2 : Now to build your clonned code run the command -

catkin_make

step 3 : Open a each new terminal for the following commands seperately -

Terminal-1.

roslaunch third_assignment simulation_gmapping.launch

Terminal-2.

roslaunch third_assignment move_base.launch

Terminal-3.

rosrun third_assignment finalrobot