Turtlebot_Mapping

• State machine with the turtle, there are two ways to operate the robot manually or automatically. If the manual way is chosen, it can be controlled from the keyboard, but with the automatic way there are two missions, the first is to move through three points from a preset map and the second mission is to return to the entry point (home). All through a state machine for control and asynchronous processes such as obstacle detection with point cloud and robot movement.

• Instructions to run the code

  Step 1: Install package, remove, the build, devel, install folders, and then run the following lines and compile.

  • Create a catkin workspace

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/

  • Clone the repo (https://github.com/EdisonAltamirano/Turtlebot_Mapping) into 'catkin_ws/src/'

  git clone https://github.com/EdisonAltamirano/Turtlebot_Mapping
  cd Turtlebot_Mapping/
  

  • Make sure all dependent packages are installed.

  catkin_init_workspace
  cd ..
  catkin_make clean
  catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  catkin_make install
  echo "source ~/Turtlebot_Mapping/devel/setup.bash" >> ~/.bashrc
  source ~/.bashrc
  

  Step 2: Run the program Turtlebot_Mapping/src/mymission/launch/mymission_sim.launch.