Turtlebot Abstraction Library

CPSwarm abtraction library for Kobuki Turtlebot 2

Compile from source

Source your environment

source /opt/ros/<ros-distro>/setup.bash

Create a catkin workspace

mkdir -p ~/catkin_ws/src

Get the codes

git clone https://github.com/cpswarm/turtlebot_abstraction_library/

Build

cd ~/catkin_ws/
catkin_make

Configure

There is a yaml file (param/compute_cost_param.yaml) to configure the parameters of the package:

map_pose_topic: amcl_pose # Topic for receiving the position of the CPS in map coordinates.

target_cost_topic: cps_selection # Topic to send the computed cost to reach target.

cps_selected_topic: bridge/events/cps_selected # Topic to receive selection response

UUID_topic: bridge/uuid # Topic to receive node UUID

move_base_action: move_base # Topic to send the robot to somewhere

Run

roslaunch turtlebot_compute_cost compute_cost.launch