johnnyboss / botsandus_planner

Local Planner for BotsAndUs

BotsAndUs_Planner

About the botsandus_planner package: -the planner receives a goal -segments the path -per segment, orientates itself to the next target and drives in a straight line -along the way it's constantly monitoring its orientation to the target and correct it if needed -when it reaches the last point it orientates itself with the desired orientation

Launching

roslaunch botsandus_planner turtlebot3_world.launch - launches the gazebo world with no gui roslaunch botsandus_planner turtlebot3_navigation.launch - launches localization and navigation with the botsandus_planner as local planner

Compile and unit test

catkin_make && catkin_make run_tests_botsandus_planner_rostest_test_unittest_planner.launch

Planner test

rostest botsandus_planner test.launch Sends three goals and check that it was able to get to all points with the desired orientation