lane following

This is the lab 4 for SUSTech EE346 Spring 2022.

It contains gazebo simulation model and control code for turtlebot3 burger.

Usage

1. Clone the source code and catkin_make this package

cd ~/catkin_ws/src

git clone https://github.com/Mandan-CHAO/EE346_Lab4

cd ..

catkin_make

2. Launch the gazebo map

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/EE346_Lab4/models

source ~/catkin_ws/devel/setup.bash

roslaunch EE346_Lab4 race_track.launch

3. chmod lane following python code

cd ~/catkin_ws/src/EE346_Lab4/scripts/

chmod +x lane_following_part1.py

chmod +x lane_following_part2.py

chmod +x lane_following_part3.py

4. run lane following control part

cd ~/catkin_ws

source devel/setup.bash

part1

rosrun EE346_Lab4 lane_following_part1.py

part2

rosrun EE346_Lab4 lane_following_part2.py

part3

rosrun EE346_Lab4 lane_following_part3.py