Project Details

Summary

Developed a custom ROS package with custom launch files, services, actions and messages to implement a Spiral Search Algorithm as a ROS Action Server. The Spiral Search Alogirthm was tested using the turtlesim node with an action client running on Ubuntu 18.04 VM with ROS Melodic.

Setting the Workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

Add the spiral search package to the workspace src/ directory.

Build the Node

~/catkin_ws$ catkin_make
~/catkin_ws$ source devel/setup.bash

Run the Node

Run roscore

~/catkin_ws$ roscore

Run the action server

~/catkin_ws$ rosrun spiralSearch spiralSearch_server

In a new terminal run turtlesim

~$ rosrun turtlesim turtlesim_node

Run the action client

~/catkin_ws$ rosrun spiralSearch spiralSearch_server