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Patterns in a Unicycle Model

Software requirements

The program was tried and tested on a system with the following specifications:

  1. Ubuntu 20.04
  2. ROS1-Noetic
  3. Gazebo 11
  4. GNU gcc-17
  5. Python 3.8.10

Installation and Setup

In order to install this, here is the procedure to be followed:

  1. Clone the repository
git clone https://github.com/Jadit19/SURGE.git
cd SURGE
catkin init
cd src
  1. Setting up
chmod +x ./scripts/dependencies.sh
chmod +x ./scripts/install.sh
./scripts/dependencies.sh
./scripts/install.sh
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc
  1. Building and launching
cd ..
catkin_make
source ./devel/setup.bash
  • For switching between patterns:
roslaunch turtlebot3_control pattern.launch
  • For switching between targets:
roslaunch turtlebot3_control target.launch

There's also an option for rviz:=true in the launching commang for trajectory visualization.