Astar Gazebo Simulation

This project simulates using OpenCV as well as Gazebo, the searching and the path obtained by A* algorithm for a rigid robot in a map with obstacles.

Result:

Instructions

1. Clone the repository using

git clone https://github.com/Abhishek-Nalawade/Astar-gazebo-simulation

2. Please overlay your turtlebot3 package first (Instructions given below for overlaying)
3. Create a ROS package with name "phase3" and paste all the files from the cloned folder inside the /package_name folder
4. Type catkin_make and then next type source devel/setup.bash
5. Run the code using the command
6. Note: The orientation is to be entered in radians

roslaunch <package_name> astar_planning.launch x_pos:=3 y_pos:=0 start_orientation:=0 x_goal_pos:=0 y_goal_pos:=3 goal_orientation:=0

7. To run the program with default arguments (default x_pos:=3 y_pos:=0 start_orientation:=0 x_goal_pos:=0 y_goal_pos:=3 goal_orientation:=0)

roslaunch <package_name> astar_planning.launch

8. After launching a window will pop-up showing the map using OpenCV visualization, then hit any key on the on that window to begin the simulations.

Instructions - Overlaying Turtlebot package

Overlaying can be useful when two or more packages are needed to run from your project package.

1. In terminal navigate to turtlebot3 ros packages and type source devel/setup.bash
2. Navigate to your project_workspace and delete any previous devel and build files and type catkin_make
3. Now again type source devel/setup.bash

General steps to set up a ROS project

1. Create the workspace and source folder with command mkdir -p ws_name/src
2. Go in src and type command catkin_init_workspace
3. In folder ws_name type command catkin_make
4. Go in src and type catkin_create_pkg pakage_name rospy std_msgs (other dependencies)
5. Go back in ws_name again and type catkin_make
6. Navigate to src/package_name/src/ and create the talker and subscriber
7. In package_name create the launch folder and inside that create the launch file 8)To run a ros project in ws_name type catkin_make first then source devel/setup.bash and then roslaunch <name_of_package> <name_of_launch_file>

Project Requirements

ROS Melodic
Turtlebot 3
For Astar planning:
Python 3.7
OpenCV