Lawn Mowing Robot

This simple lawn mowing robot simulation uses spawns a turtlebot in a Gazebo world and traverses a set of predetermined locations.

Getting Started

Prerequisites

This simulation has been developed and tested using ROS Kinetic Kame and Ubuntu 16.04 LTS. Instructions on how to install and set up ROS Kinetic can be found in ROS Wiki: http://wiki.ros.org/kinetic/Installation

Cloning and Building

Navigate to /src directory your Catkin workspace:

$ cd /path/to/your/catkin/workspace/src

For example:

$ cd ~/catkin_ws/src

Clone repository:

$ git clone https://github.com/umutyazgan/lawn-mowing-robot.git

Navigate to root of your Catkin workspace and make a build:

$ cd ~/catkin_ws
$ catkin_make

Replace ~/catkin_ws with path to your Catkin workspace.

Running Simulation

Start roscore :

$ roscore

Use launch file provided in lawn_world package to launch Gazebo world with turtlebot, rviz, acml and move_base:

$ roslaunch lawn_world lawn.launch

Run go_to_goals.py script from lawn_explorer to start traversing through points given in script:

$ rosrun lawn_explorer go_to_goals.py

Authors

• Umut Yazgan (https://github.com/umutyazgan)
• Orhan Kurto (https://github.com/kurtorhan)
• İbrahim Karahan (https://github.com/ibrahimkarahan47)

License

This project is licensed under the GLPv3 - see the LICENSE.md file for details. The goal seeking script go_to_goals.py is lisenced under BSD lisence.

Acknowledgments

This scrpit written by markwsilliman provided us great help in this project: https://github.com/markwsilliman/turtlebot/blob/master/go_to_specific_point_on_map.py