Bug algorithm in ROS

演示

如何使用Gazebo实现Bug

效果图

1. 自定义服务
   
2. 绕墙行走
   
3. 到达终点
   

Requirement

pakename wk2Assignment_3

• launch folder: contains launch files
• scripts folder: contains your python code
• urdf folder: contains the model files describing your robot
• srv folder: contains your custom ROS services
• CMakeLists.txt: list of cmake rules for compilation
• Package.xml: Package information and dependencies

Usage

use the command roslaunch wk2Assignment wk2Assignment.launch
then type the number of the bug algorithm you want to use
0: bug0
1: bug1
2: bug2

1. Urdf xacro.py

The tutorials can be found in here
The topic used: laser : /wk2Bot3/laser/scan cmd_vel: wk2Bot3/cmd_vel odom: odom

2. Service.py

1. Service HomingSignal.srv: 指定docking station，面对的朝向 发出信息"My wk2Bot reaches the charging station located at (xx, xx)"
2. SetBugBehaviour.srv: 指定机器人移动速度

3. Bug1,Bug2 and Client.py

name : Bug1.py
name : Bug2.py
client.py : 实现选择算法bug1或bug2， 在bug12中判断传的req是否为true再决定要不要调用

4.GoToPoint.py and followWall.py

go_to_point_switch和wall_follower_switch改srv的类型

5.wk2AssignmentWorld.world

建世界,bug1 algorithm is better than Bug2 algorithm