Obstacle_Avoidance_ROS:自主避障机器人ROS + GAZEBO

# Obstacle_Avoidance_ROS Project in action : [Watch on youtube](https://www.youtube.com/watch?v=wcXuUG4BWAU&t=9s) ## Cloning the project Create a new directory in ```<catkin_workspace>/src/testbot_description``` and clone all of project files to that folder. sample commands: 1. ```mkdir ~/catkin_ws/src/testbot_description``` 2. ```cd ~/catkin_ws/src/testbot_description``` 3. ```git clone https://github.com/vibhuthasak/Obstacle_Avoidance_ROS.git``` 4. ```cd ~/catkin_ws``` 5. ```catkin_make``` ## Step by Step ROS Command Explanation 1. First you need to Launch the ROS node. ```roslaunch testbot_description testbot_gazebo.launch``` testbot_description is the package name that I gave. And testbot_gazebo.launch file can be found at /launch folder After executing this command, Gazebo will open like below.  **Everthing looking great so far right ?** 2. Now you need to run the python script that is created to listen sensor data from our virtual robot and move the robot. ```rosrun testbot_description sensor_data_listerner.py``` ### Python Script Explanation in brief: The python script is available at Obstacle_Avoidance_ROS/scripts/sensor_data_listener.py path. The script is simply subcribes to ```/scan``` topic's ```sensor_msgs.msg.LaserScan``` message. The message is modified using the ```LaserScanProcess()``` function. ```rospy.Subscriber("scan", sensor_msgs.msg.LaserScan , LaserScanProcess)``` And it is publishing commands to ```/cmd_vel``` topic and the message type is Twist. ```pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)``` If you echo the ```/cmd_vel``` topic using following command ```rostopic echo cmd_vel``` You will see it is printing __Linear__ and __Angular__ velocities. **DONE**