TTK4192: Mission Planning for Autonomous Systems

Setup:

Run the following commands in a terminal (assuming all dependencies are installed):

• export TURTLEBOT3_MODEL=waffle

• export ROS_WS_NAME=<your_ros_workspace_name>

• cd $ROS_WS_NAME

• source devel/setup.bash

Turtlebot3 Bringup:

For the simulation run roslaunch assignment4_ttk4192 turtlebot3_ttk4192_sim.launch. This will start the simulation in Gazebo with the Turtlebot3 Waffle model and manipulator.

When using real hardware, run the following command instead: roslaunch assignment4_ttk4192 turtlebot3_ttk4192_real.launch.

Mission Execution:

rosrun assigment4_ttk4192 mission_execution.py

Check scripts/files_description.md for further structural explanation.