Patterns in a Unicycle Model

Software requirements

The program was tried and tested on a system with the following specifications:

1. Ubuntu 20.04
2. ROS1-Noetic
3. Gazebo 11
4. GNU gcc-17
5. Python 3.8.10

Installation and Setup

In order to install this, here is the procedure to be followed:

1. Clone the repository

git clone https://github.com/Jadit19/SURGE.git
cd SURGE
catkin init
cd src

2. Setting up

chmod +x ./scripts/dependencies.sh
chmod +x ./scripts/install.sh
./scripts/dependencies.sh
./scripts/install.sh
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc

3. Building and launching

cd ..
catkin_make
source ./devel/setup.bash

• For switching between patterns:

roslaunch turtlebot3_control pattern.launch

• For switching between targets:

roslaunch turtlebot3_control target.launch

There's also an option for rviz:=true in the launching commang for trajectory visualization.