A Husky robot has to navigate a maze using its on-board camera. The robot moves towards visual cues to guide it towards the exit.
Executing the following commands in order will start the Gazebo
simulation:
-
roscore & sleep 1 ; rosparam set use_sim_time true
-> start ROS master node, -
rosrun gazebo_ros gzserver braitenberg_nav_project/maze.sdf
-> set up the simulation environment in Gazebo, -
gzclient
-> activate a visual representation of the simulation, -
cd braitenberg_nav_project/
-> set the Linux shell path inside the main folder, -
python3 -m sm.lights_switcher
-> generate human targets in the simulation environment, -
cd ROS_Plugins/catkin_ws/src/
-> set the Linux shell path inside the ROS_Plugins/catkin_ws/src/ folder, -
rosrun robot_vision yolo_node.py
-> start the robot vision module, -
rosrun robot_control pid_controller.py
-> start the robot control module.