Turtlebot path planning

This repository implements bug1 and bug2 algorithm for Turtlebug3 Burger robot.

You can find the details of bug1 and bug2 algorithms here

The code is developed using ros services.

Installation

I tested this code on Ubuntu 20.04 with Ros Noetic.

Steps for installation:

1. Initialize your catkin working environment
2. Clone this repository to and move the "src" folder to your workspace
3. Run catkin_make in the root folder of your workspace

How to run

First open a new terminal in the root folder of your workspace

1. Run source devel/setup.bash
2. Run export TURTLEBOT3_MODEL=burger
3. Put your world description file under "src/controller/worlds/" folder
4. Run export WORLD={name of your world file}
5. Run roslaunch controller turtlebot3_world.launch

Now open a new terminal in the root folder of your workspace to run the client side

1. Run source devel/setup.bash
2. Run rosrun controller control_client.py {x position} {y position} {bugone flag}

• For instance rosrun controller control_client.py 2 0 True to get to x=2,y=0 with bug1 algorithm.
• rosrun controller control_client.py 2 0 False uses bug2 to get to the destination.

A picture of the robot in the Gazebo environment