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RRT-exploration

Install ROS Kinetic package

sudo apt-get update && sudo apt-get upgrade

sudo apt-get install ros-kinetic-librealsense ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator

실행 순서

  1. 예제 gazebo와 rviz 실행 (navigation 실행)

roslaunch rrt_exploration_tutorials single_simulated_house.launch

  1. single launch파일 실행 -> publish point를 이용한 탐색 실행

roslaunch rrt_exploration single.launch

실행시 주의 사항 - 순서를 정확하게 입력해줘야함.

publish point 순서

  • RRT exploration 실행 결과

RRT exploration

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