Project for the course Robot Programming 🤖, "Sapienza" University of Rome.

Obstacle Avoidance : Build a node that computes a repulsive field from the local laser scans and modulates the /cmd_vel so that the robot does not clash to the wall if instructed to do so. It is written in C++.

1. Clone this repository into your ros workspace
2. Every time you open a new terminal:

   source devel/setup.bash  

3. From your workspace build with

   catkin_make

4. Start the roscore:

   roscore

5. In a different window:

   rosrun project project

6. In another window:

   rosrun stage_ros stageros cappero_laser_odom_diag_obstacle_2020-05-06-16-26-03.world

   I used a map of the DIAG departament. There are 3 cubes:
   🟩 is the robot that is controlled;
   !:red_square: :purple_square: are the two obstacles.
   It is possible to set the dimension and the initial position in the .world file.
7. In a different window give the velocity command:

   rostopic pub /cmd_vel geometry_msgs/Twist -r 1 -- '[0.4, 0.0, 0.0]' '[0.0, 0.0, 0.0]'

   where the components are [linear.x, linear.y, linear.z] and [angular.x, angular.y, angular.z]
   
   
   

For any doubt or clarification send me an email