ENPM661 Project - 3

Student Details

Name	Jay Prajapati	Akash Parmar
UID	119208625	118737430
Directory ID	jayp	akasparm
Email ID	jayp@umd.edu	akasparm@umd.edu

Dependencies used

Module	Version
Python	3
Time	Default
Numpy	Default
heapq	Default
rospy	Default
OpenCV	4.7.0

Links

Item	Link
Github Repository	here
Videos	here

Run Code

Part-1

Download the zip folder and navigate to the Part01 folder.

cd projp2_akasparm_jayp/Part01

and run the python script.

python3 astar_akasparm_jayp_p1.py

Sample input

Enter your choice for mode of operation,

Type 1 for selecting the parameters manually
Type 2 for preset parameters

Your Choice: 1

Enter x coordinate of Start Point: -10
Enter y coordinate of Start Point: -40
Enter theta coordinate of Start Point: -160
Enter x coordinate of Goal Point: 510
Enter y coordinate of Goal Point: -28
Enter the clearance: 5
Enter the rpm1: 1
Enter the rpm2: 2

Note: After entering the input data, the optimized path will be displayed. The user can also select the preset option while entering the choices to get the sample output.

Part-2

Download the zip folder and navigate to the Part02 folder.

cd projp2_akasparm_jayp/Part02

Note: Assuming that the user has already created a catkin workspace and put the given ROS package in src folder.

Build the catkin workspace.

cd ~/catkin_ws && catkin_make

To simulate the turtlebot in Gazebo, first launch the launch file given in the ROS package and then run the python script.

roslaunch astar_turtlebot world.launch

In another terminal window

python3 astar_akasparm_jayp_p2.py

Sample input

Enter your choice for mode of operation,

Type 1 for selecting the parameters manually
Type 2 for preset parameters

Your Choice: 1

Enter x coordinate of Start Point: -10
Enter y coordinate of Start Point: -40
Enter theta coordinate of Start Point: -160
Enter x coordinate of Goal Point: 510
Enter y coordinate of Goal Point: -28
Enter the clearance: 5
Enter the rpm1: 1
Enter the rpm2: 2

Note: After entering the input data, the optimized path will be displayed and the turtlebot will be simulated in Gazebo. The user can also select the preset option while entering the choices to get the sample output.

Navigate to the Proj3p2_akash_jay folder after unzipping the folder,

python3 a_star_akash_jay.py

Enter the initial node and goal node as per the instruction in the terminal

• First enter the choice for entering the initial and the goal point

  • 1 for Manual entry
  • 2 for Preset Values

• Manual Input Parameters

  • Start Point x-coordinate
  • Start Point y-coordinate
  • Start Point theta (should be multiple of 30)
  • Goal Point x-coordinate
  • Goal Point y-coordinate
  • Goal Point theta (should be multiple of 30)
  • Clearance (should be 5)
  • Robot radius (should be 5)
  • Step size (should be between 1 to 10)

• Once the goal node is found, the simulation will be displayed in a window.

• Press the waitKey to end the code and get the mp4 file of the animation in the working directory