{"id":19083472,"url":"https://github.com/mtrebi/catkin_ws","last_synced_at":"2025-08-17T08:05:27.563Z","repository":{"id":30318297,"uuid":"33870533","full_name":"mtrebi/catkin_ws","owner":"mtrebi","description":"Bug0 navigation algorithm in a Turtlebot 2.0 to move from A to B avoiding obstacles","archived":false,"fork":false,"pushed_at":"2017-03-12T12:52:57.000Z","size":154,"stargazers_count":0,"open_issues_count":0,"forks_count":1,"subscribers_count":4,"default_branch":"master","last_synced_at":"2025-02-22T06:26:17.516Z","etag":null,"topics":["navigation","turtlebot","turtlebot-avoiding-bostacles"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/mtrebi.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2015-04-13T13:36:40.000Z","updated_at":"2025-01-19T21:13:29.000Z","dependencies_parsed_at":"2022-08-02T12:21:46.839Z","dependency_job_id":null,"html_url":"https://github.com/mtrebi/catkin_ws","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/mtrebi/catkin_ws","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mtrebi%2Fcatkin_ws","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mtrebi%2Fcatkin_ws/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mtrebi%2Fcatkin_ws/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mtrebi%2Fcatkin_ws/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/mtrebi","download_url":"https://codeload.github.com/mtrebi/catkin_ws/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mtrebi%2Fcatkin_ws/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":270820793,"owners_count":24651534,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-17T02:00:09.016Z","response_time":129,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["navigation","turtlebot","turtlebot-avoiding-bostacles"],"created_at":"2024-11-09T02:47:37.947Z","updated_at":"2025-08-17T08:05:27.538Z","avatar_url":"https://github.com/mtrebi.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# turtlebot\n## Demo\nCheckout the videos! (click on the image)\n\n[![Turtlebot avoiding bostacles](http://img.youtube.com/vi/7wiXgdLNfO0/0.jpg)](https://www.youtube.com/watch?v=7wiXgdLNfO0\u0026list=PLeGS7otZ9mSc-kfSqJHZLcTUpjxLSWuh7\u0026index=1 \"Turtlebot avoiding bostacles\")\n\n## Implementation\nImplementation of Bug0 navigation strategy with a Turtlebot.\n\nBug0 Pseudocode:\n\n1. Head toward goal\n2. Follow obstacles until you can head toward goal again\n3. Continue\n\nTo do so we use:\n\n- Subscribe to Odometry to do positioning (known current position \u0026 goal)\n- Subscribe to  Laser Scan to detect objects\n- Publish to Speed (Linear \u0026 Angular)\n\nWe have defined some global vars to customize the behaviour of the Bug0 algorithm:\ndistance (m) detection of obstacte when the robot stop and begin to turn \nself.obstacle_threshold = 1\n\ndistance (m) obstacle_threshold+obstacle_threshold_add when the robot detects that the robot i more far starts to go fowrward to avoid it\n- self.obstacle_threshold_add = 0.25\n\ndistance (m) in status 2 that the robot move to try avoid the obstracle and go to the goal after turn in front of obstracle\n- self.distance_try_avoid_obstacle = 0.4\n\nthis linear variable * distance to goal lets to make a variable velocity\n- self.linear_constant=0.5\n\nmax speed of the robot, if is very high is possible that the robot don't have enought time for stop whith obstabce\n- self.max_speed=0.25\n\n- self.accepted_error_try_avoid_obstable = 0.1\n\ndegrees/sec that turns the robot when detects obstable.\n- self.turn_speed = 25 \n\nthis linear velocity variable * distance to goal lets to make a variable linear velocity\n- self.head_toward_linear_constant=1\n\nthis angular velocity variable * distance to goal lets to make a variable angular velocity\n- self.head_toward_angular_constant=2\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmtrebi%2Fcatkin_ws","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmtrebi%2Fcatkin_ws","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmtrebi%2Fcatkin_ws/lists"}