Workspace Limits Avoidance

A ROS package for robots that avoids workspace boundaries during navigation.

Prerequisite • Compile • Execute • Use • Screenshots

Prerequisite

• ROS - An open-source, meta-operating system for your robots. The repository has been tested using ROS Kinetic.

How to Compile

1. Move this package folder (workspace-limits-avoidance) to the src directory of your ROS workspace, for example ~/catkin_ws/src/.

2. Open a terminal window and navigate to your ROS workspace directory, e.g.:

   cd ~/catkin_ws/

3. Build the package using the catkin_make command:

   catkin_make

This will compile the package and generate the necessary files for running the ROS nodes.

How to Execute

1. Open a terminal window.

2. Navigate to your ROS workspace directory.

3. Launch the package using the following command:

   roslaunch workspace_limits_avoidance workspace_limits_avoidance.launch

This will launch the ROS nodes required to run the package.

How to Use

1. The turtle moves randomly within the workspace, avoiding walls and boundaries.
2. When the turtle gets too close to a wall or boundary, it stops.
3. The turtle then moves back a little and rotates randomly.
4. After that, the turtle moves forward again and repeats the cycle.
5. The turtle continues to move indefinitely, and the terminal prints various information. You can exit the program at any time by pressing ESC.

Screenshots

• 6th pseudo-random move:

• then, after a couple of minutes...:

• ... and after a couple of hours: