Basic simulation for the intellegient robotics assignment. Simulation with turtlebot3 in cafe with 8 tables.
Prerequisites:
You will need the tutlebot3, turtlebot3_msgs and turtlebot3_simulations repository downloaded.
Do this run this command in your workspace folder to clone the turtlebot
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
similarly clone the other two turtle bot repos.
Clone/download our reposity and add the my_simluations folder in your catkin_ws
Then run catkin_make.
To launch the simulation run in separate terminals:
roslaunch my_simluations my_world.launch
Also press the play button in Gazebo to start the simulation before running the localisation
roslaunch my_simluations turtlebot_localisation.launch
roslaunch my_simluations main.launch
rosrun my_simluations robot_onboard_UI.py
localise your robot using teleop and the above localisation node.
Run the pathfinder to navigate the robot to the particular tables to serve and clear.
rosrun my_simluations pathfinder_.py
hint: make all the python files under the my_simualtions/src as executable.