Operates turtlebot3 in ROS
You have to make a file("dijkstra_data.txt"). There is a necessary component. Data of goals(position.x position.y orientation.z orientation.w). Separator is a space.
If you finish making a file, Try roslaunch turtlebot3_navigation and rosrun dijkstra.
It needs a numbers of node that user entered by keyboard. Because dynamic allocation is done before reading the file.
The path is generated only on the node and the shortest distance is obtained by dijkstra algorithm. The way of calculating cost is a euclidean distance. But If there is an obstacle between two nodes, Cost is infinity.
Turtlebot3 move when user give start and finish nodes.