Motion planning software for a car-like robot

Notes

This repository is a fork of this template.

The source code for the nodes is located in packages/motion_planner/src.

A Duckiebot (DB21-M) with the name duckiebot was used for testing.

The software was built using ROS Noetic Ninjemys.

First read The Duckiebot Operation Manual and The Duckietown Developer Manual.

Setup

1. Set up the Duckiebot and its environment.
2. Open two terminals.
3. In the first terminal, run dts devel build -f to build the software locally or dts devel build -f -H duckiebot to build the software on the Duckiebot.
4. In MATLAB, open parameters.m, initialise.m, animate.m and stop.m.
5. In parameters.m, set the parameter values.

Run

1. In the first terminal, run dts devel run if the software was built locally or dts devel run -H duckiebot if the software was built on the Duckiebot.
2. Wait for the nodes to begin running.
3. In the second terminal, run export ROS_MASTER_URI=http://duckiebot.local:11311 and then rosbag record /duckiebot/NODE_NAME/TOPIC_NAME ... to record to a bag file.
4. Wait for the recording to begin.
5. In MATLAB, run initialise.m.

Stop

1. Wait for the control complete message to appear in the first terminal, or run stop.m in MATLAB to stop the Duckiebot prematurely.
2. Press Ctrl+C in both terminals.

Animate

1. In animate.m, set bag_file_name to the name of the bag file and set create_gif to 0.
2. In MATLAB, run animate.m.

Create a GIF of the animation

1. In animate.m, set gif_name to the desired name of the GIF, set gif_resolution to the desired resolution of the GIF and set create_gif to 1.
2. In MATLAB, run animate.m.
3. Wait for MATLAB to finish creating the GIF.