Autonomous Traversal

Gazebo simulation of a 4 wheeled skid steer bot that can perform simple autonomous traversal as well as traversal with obstacle avoidance using a GPS, an IMU, ultrasonics and a Kinect.

How to Run

1. Install:

      sudo apt-get install ros-melodic-depthimage-to-laserscan

2. Clone repo:

      git clone https://github.com/aditirao7/auto_trav.git

3. On 2 separate terminals, run (inside repo folder auto_trav):

      catkin_make && source devel/setup.bash

4. Then run:

      roslaunch mybot_gazebo mybot_world.launch
      
      cd src/mybot_description
      chmod +x auto_trav.py
      rosrun mybot_description auto_trav.py 49.9000534303 8.89991622116
      
      cd src/mybot_description
      chmod +x simple_trav.py
      rosrun mybot_description simple_trav.py 49.9000534303 8.89991622116

5. Give the GPS location for auto_trav.py or simple_trav.py accordingly by using the /fix topic.