Objectives

1. Design a controller that drives the robot(named Evader) straight at a constant speed of 2m/s. When the robot is close to an obstacle, the robot should stop, turn in a random new direction, and drive at the same speed.
2. Write a contollar for the second robot(named Pursuer) that subsribes to the tf messages from Evader and follows the Evader by going to the spot it was at from two second before.

Evader Controller (evader.py node)

• Evder subscribes to the laserscan data from the laser attached to it and triggers callback fuction
• The callback fuction stores laser ranges (which defines front of Evader) in a varivale "laserfeed"
• If an obstacle is in front of Evader and if detected, Evader is turned in random diretion using velocity publisher

Pursuer Controller (evader_pursuer.py and pursuer.py nodes)

evader_pursuer.py
Followings ared added in evader.py:

• Used rosparameter "robot" and assigned value as robot0 and robot1, and stored in a variable "robotname"
• Published pos of both the robots to world frame

pursuer.py

• using tf, pursuer subscribes to evader's pos
• speed of pursuer is proportional to difference in pos
• velocity command is given to pursuer using velocity publisher

ROS concepts used: ROS parameters, tf

Stage simulator is used in the project