Rosstars

Before running the tasks ensure that all the files in the scripts folder are executable: $chmod +x * Also use catkin_make to build the packages and source setup the workspace after that

Tasks completed:

Task#1:

Youtube link: https://youtu.be/koBg9EcM_EM

To check this task, run these:

$roslaunch embedathon2021 task1.launch
$rosrun embedathon2021 task1.py

Task#2:

Youtube link: https://youtu.be/hUf_AHrWGKU

To check this task, run these:

$roslaunch embedathon2021 task2.launch
$rosrun embedathon2021 task2.py

Task#3:

• 3.1: Youtube link: https://youtu.be/es892odM_Xo

  To check this task, run these:

$roslaunch embedathon2021 task3.launch
$rosrun teleop_twist_keyboard teleop_twist_keyboard.py

• 3.2.1: Youtube link: https://youtu.be/hC0Ad-ikhnc

  To check this task, run these:

$roslaunch embedathon2021 temp.launch
$rosrun embedathon2021 task3-subtask1.py

• 3.2.2: https://youtu.be/o9VWxZO8c6Y

  To check this task, there are 2 ways we tried:

  • Method 1

    $roslaunch embedathon2021 task3.launch
    $rosrun embedathon2021 task3.py
    

  • Method 2

    $roslaunch embedathon2021 task3.launch
    $roslaunch embedathon2021 bug2.launch
    

    The python files used in this method are: bug_algo_2.py , follow_wall.py and go_to_point.py

• To integrate 3.2.1 and 3.2.2 (Method 1):

  • comment self.shutdown() and other statements that cause break in loop in task3-subtask1.py file
  • copy the libraries and class from task3.py to task3-subtask1.py
  • copy the line self.sub1 = rospy.Subscriber("/scan", LaserScan, self.callback) from init in task3.py to task3-subtask1.py
  • Copy these lines from main of task3.py to main of task3-subtask1.py file

     rclass = Moving() 
     rclass.linear_vel = 0.1
     rclass.go_to_goal(-25)
    

• NOTE: Task 3.3 can be done using 3.2.2 (Method 1 or 2), but the initial and final destination points need to be changed