Sofar Project

In this repository, you can find:

The folder sofar_project which contains the packages, planning, slam_gmapping, sofar_project, turtlebot3, turtlebot3_msgs, turtlebot3_simulations.

The package sofar_project package contains the file sofar.py which contains the code for the modules Rigid Body Detector, Robot Controller, and path planning. This folder also contains the launch file and the custom message folder.

Data required from other modules:

Final target as a coordinate published on move_base server.

Software Architecture

Below is the software Architecture of the whole project, out if this our sub group worked on the below three modules.

1. Rigid Body Detector
2. Robot Controller
3. Path Planning

Installation and Running Procedures:

For running the three modules, first clone the entire repository that will also include the supporting packages; ‘planning’ and ‘gmapping’.

Then install the sparse library (sudo apt-get install libsuitesparse-dev) and openslam_gmapping (sudo apt-get install ros-<ros_distro>-openslam-gmapping).

Install the ROS navigation stack (sudo apt-get install ros-<ros_distro>-navigation).

Open the terminal and run 'catkin_make' inside your ROS workspace

Open the Terminal and go to the 'Scripts' folder of the main package ‘sofar_project’

Give running permissions to the code with:

chmod +x sofar.py

Run the launch file

roslaunch sofar_project sofLaunch.launch

Video Demonstration

https://youtu.be/2Y116pzK5vQ

Contributors:

Aliya Arystanbek

Laiba Zahid

Syed Muhammad Raza Rizvi