https://github.com/hasauino/project_1
MAS foundation course, ROS sessions, project 1 solution
https://github.com/hasauino/project_1
Last synced: about 2 months ago
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MAS foundation course, ROS sessions, project 1 solution
- Host: GitHub
- URL: https://github.com/hasauino/project_1
- Owner: hasauino
- Created: 2020-03-27T16:40:01.000Z (about 5 years ago)
- Default Branch: master
- Last Pushed: 2020-03-27T16:41:08.000Z (about 5 years ago)
- Last Synced: 2025-01-21T19:35:15.020Z (3 months ago)
- Language: Python
- Size: 232 KB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# :fire: Project 1
The goal was to make the robot go to a point
## idea:
- find error in the x direction
- find error in y direction
- set x speed to a value proportional to error_x
- set y speed to a value proportional to error_y
:warning: we assume robot doesn't rotate, and we only send v_x and v_y.
## How to run this sample solution
- call this launch file:
```bash
roslaunch project_1 all.launch
```
this launch file will bring up Gazebo, Rviz, and the action server node.
:bulb: the launch file loads Rviz with a configuration file that shows odometry topic. It shows the actual robot path.
- to send a point, publish on the `/move_base/goal` topic:
```
rostopic pub /move_base/goal project_1/MoveBaseActionGoal "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
goal_id:
stamp:
secs: 0
nsecs: 0
id: ''
goal:
x: 2.0
y: 2.0"
```
**Note**
- `rviz.launch` file is just like `all.launch` but without Gazebo GUI.
- `gazebo.launch` file is just like `all.launch` but without Rviz.