ROS turtlebot walk

The code in this repository is for the turtlebot walk, using obstacle detection from depth image of kinect.

Dependencies for code

The system runs on ROS Kinetic-kame with Ubuntu machine with packages roscpp, nav_msgs, geometry_msgs, cv_bridge, tf installed.

The code also additionally uses the boost library

Additional rqt package components must also be installed to view the ros messages.

Building the code.

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/suyash023/turtlebot_walk.git
cd ../..
catkin_make

Running the code

Source the environment of the catkin workspace.

source ./devel/setup.bash

Launch the talker_listener.launch file

roslaunch turtlebot_walk turtlebot_walk.launch

Open a separate terminal and run

rqt_console 

to view the ros messages being passed.

To record bag files

To record the data published on all topics except camera topic in a bag file pass an argument record:=true to the roslaunch command as follows

roslaunch turtlebot_walk turtlbot_walk.launch record:=true

This creates a bag file in the ~/.ros/log folder. to move the file use the following commnd with appropriate arguments

mv ~/.ros/log/(bag_file_name).bag (catkin_ws folder location)

To play the bag files

To replay the recorded bag files use the following command:

First start roscore in a different terminal

roscore

Then run following command:

rosbag play results/data.bag (corresponding bag file name)