idawatibustan / explorer_bot

A prototype search and rescue robot using the Turtlebot in a simulated world.

explorer_bot

A prototype search and rescue robot using the Turtlebot in a simulated world.
Link: https://github.com/idawatibustan/explorer_bot

How To

1. Compile the simulation script

   chmod +x project_init.sh # or `project_init_2.sh` to load world1 or world2 respectively.

2. Run simulation

   ./project_init.sh
   

3. Launch the explorer launch file

   roslaunch explorer_bot explorer_map.launch
   

Warning! You may need to catkin_make twice. First time tend to fail due to rosservice msg created.

Package Overview

Nodes
wall_detector processed /scan to detect wall’s ahead, and next block’s left, front and right walls.
 /wall_scan topic published for walls detected.

box_navigator simple navigation to allow the robot move from one box to another.
 /move_north ros service to move to the north direction.
 /move_east east direction.
 /move_south south direction.
 /move_west west direction.
 /turn_north ros service to turn to the north direction.
 /turn_east east direction.
 /turn_south south direction.
 /turn_west west direction.
 /is_moving topic published to indicate robot has movement in progress.

explorer path planning and search node that uses wall_detector and box_navigator.

Srv
MoveGoal to send geometry_msgs/Pose2D as goal to box_navigator.