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The repository for submission of the first assignment of Research Track 2 course, Masters in Robotics Engineering, Unige

CMake 52.09% HTML 0.11% Python 33.38% C++ 14.42%

rt2_assignment1's Introduction

RT2_Assignment1

This is the main package provided for the assignment (with an added launch file). It also includes a CoppeliaSim scene to interact with the ROS package.

When the user sends a start command, it continues to drive the robot to random goal positions. When a cancel request is sent, the user has to wait until the robot reaches its current goal, then, it stops.

This is the overall structure of the system:

alt text

To launch the system, run:

roslaunch rt2_assignment1 sim.launch

To launch the system with V-Rep, run:

roslaunch rt2_assignment1 sim_copp.launch

Then, start the simulation.

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