waypoint-patroling

EE5900: Group #2 Assignment #4

#Team --

Akhil (Team Lead)

Roger

Philip

Working of the project

The initial map is created using launch file 1. This map has been edited previously and saved. The random script will generate random points between 0 to 7 and shift it by -5. These points are then used as the X and Y coordinates to launch the 2nd file. This file spawns the jackal in the random location and traverses it through the map following the waypoints. This motion is stored in a rosbag file and is used by the 3rd launch file to play-back the motion on the original map.

1. Clone the repository

2. Follow these steps to setup the environment:

$ cd catkin_ws/src

$ catkin_init_workspace

$ cd ..

$ git submodule init

$ git submodule update

3. Build the project as follows:

$ catkin_make

$ source devel/setup.bash

4. To run the complete project:

$ cd catkin_ws

$ ./random.sh

after the complete map has been traversed, use ctrl-C to stop

give a couple of minutes for gzserver to stop completely

$ ./random2.sh