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This project contains a bot simulation in Gazebo using bug0 algorithm. The robot design and other requirements can be found in thisPDFIn this program the bot reaches the given goal by following the boundary of the obstacle if any. All codes are written in python.Xacro is used in the project to clean the URDF code.

1. Clone this repository in thesrc folder of yourcatkin workspace
2. Runcatkin_make
3. Go to obstacle-avoid.py and make it executable usingchmod +x obstacle-avoid.py. No need to do this step if you are using the obstacle-avoid.cpp code.
4. Open 3 Terminals
5. Run the commandroslaunch Obstacle-Avoidance-Bot-Using-ROS spawn.launch.
6. In the second terminal run the commandrosrun Obstacle-Avoidance-Bot-Using-ROS obstacle-avoid.py
7. In last terminal, run the commandrosrun gazebo_ros gazebo --verbose to start the robot and begin the obstacle avoidance course.
8. Add blocks in between wherever you want or you can download a world from anywhere else and spawn the bot there.

• ROS
• Gazebo

• Make the bot move in the shortest distance

This project is licensed under the MIT License - see theLICENSE file for details