Autonomous Robots Final Project

This is a final project in Autonomous Robots class (VIBOT 2nd semester, University of Girona) done by Kaisar Kushibar(k.kushibar@gmail.com), Rodrigo Daudt (rcdaudt@gmail.com) and Songyou Peng (psy920710@gmail.com).

Demo

The demonstration of the algorithm can be seen here.

Requirements

• ROS Indigo
• Gazebo
• RViz
• Python 2.7

Create a catkin workspace and pull the code into the workspace src folder.

How to Run

$ roslaunch ar_project gazebo.launch
$ roslaunch ar_project driver.launch x:=<x-coord> y:=<y-coord>

The first line launches the Gazebo simulator and RViz visualization tool. The arguments <x-coord>, <y-coord> are the goal point in pixels w.r.t world coordinate system.

Example (for the small 400*400 map)

$ roslaunch ar_project gazebo.launch
$ roslaunch ar_project driver.launch x:=200 y:=350