UMIC_Project_Team1

THE TRACKING & NAVIGATION CHALLENGE

PREREQUISITE PACKAGES NEEDED

1. PyTorch for ML implementation
2. OpenCV for countour detection
3. ROS and Gazebo for simulation

PROCEDURE

Setting up the Workspace

1. Install the above packages before eveything else
2. Copy the folder 'frames' in .gazebo/models
3. Build the workspace mybot_ws(Project)

INDIVIDUAL ASPECT TESTING

Frontier+CV

1. ./run_world.sh
2. ./run_add.sh
3. roslaunch mybot_navigation move_base.launch
4. python image_converter.py
5. roslaunch mybot_gazebo mybot_trigger1.launch

Wall Follower

1. ./run_world.sh
2. ./run_add.sh
3. Move the robot and orient it towards the passage in Gazebo
4. ./run_wf.sh

FINAL TESTING (ALL IN ONE)

1. ./run_gazebo.sh
2. roslaunch mybot_gazebo mybot_trigger1.launch
3. python image_converter.py
4. roslaunch mybot_navigation move_base.launch