Launch File Explanations

multi_range.launch

This launch file will set up a boolean-value object detection in 4 ranges within a 90 degree cone in front of the RPLIDAR. You can set the r_value (in meters) to determine how far away you want the robot to stay away from an obstacle (default .5 m).

test.launch

This is the launch file which will lead to one method of autonomy, will write more later. <img src=”https://lh3.googleusercontent.com/a39E6MGDDaimv_Fx4XfZ_qbYNEcGiLca6w7pcx3Dr-USbVf5Vh3hL951iIkta5L3O5kAdDmFdpzH_cfpJoV2ES0bYfcm6BWSdSNhpCR2JGMEVU13XFk4tpN74zg2FL-gBaRrsY6BswrFVudVg2dYngaGcbSK0Hebh1QcXC6USpEhr_AnYjXNueuIREnEntXnKgTtLeYM0la_6lB6cmfoCgK8vOAGgy0e3pCxbXAN0Fnn8n_0xH2SBCvXY2RB5H6L_IkU4tjDRYoAHgWKm6-JcECat1kIHltguyBSlKYncEMX63hEjb6yiF4y1bOTiQ1z937LtCbob18L-Koq8bPjeKsUjcarjbGXyLFso_Si7ppOZaBLJc-Ui9AUrfLL-ZyaZ_D91Wl8mX1cEKyu-PCtwow-T3QTVqXkoCbULhodtKh-8Pd3Z8lRat7z4BDSGaxH06tI_z0HP2iMjFGUbjJpNqUdwTx9M2KvHAfTk6fPWEFreJ_v9-rR-KQf_xJhWLr_rEEUN_hmAKolDoTySuq8ONyZrIiyMEHzpG0UiyDKL55w1GWUWd8GmxXlfl4H90cNjOYuus_k16vLI85kVwkvo6DuP3tHoAAnYBPSW71RiLxdNmIYBSgAyn90n-kFeT9vZD75KfJYC6N_ipg9DyGFIn_5mCzPrgvJdKgIgzTp_efp4BqGsSAkfHU870YbvjdNat2A5y01o2ZMZ1hsnC99Zhi4-g=w818-h786-no?authuser=0” width=410, height=394/> <img src=”https://lh3.googleusercontent.com/AD9j4HJrWLqfbWlCdmkDjDGa8BY6ZEVVDf_K3KVz7J4j7-NONBi87nR54AGy8Oq29UAVlQuyBFnFmDxH5701AGYQ9aDY3iNtDNUO9Ys6L3JeW6X4WGGr4YIrsGsfkzmdNNfg7OcJJ5xOy2YPNLCqkfVy-aiIAxfds9OphfF0m2X-uA3kc3Ac8WNl7w3hq76MJMNK8Pm1Bi60N3W8cZpdlCGdqIHBaVrIMCwvGbswKS21YI8LzyuXUgQXHt37p3LGnQOXRVLdu225kOUts7GzDFxLUq4Q_kUwnSEOcWIsUWaCvZ9s1bWWq6eHrEvwgvfG8GcG2glzGoA8xvPIJ-3I64x8frfE7dZVcYk2brA1wq4ZOuXPYAi6rhY0lRfHnIu9L5fLPRthkvnHLKx_2R5dXW609kJv_aMV6mkIKNJZuB_rL-w0nLsuwsrbEAAce6jdYNDgQXtNVtDqOtZZL2AbP_f-Lv2bgCTmSPQl2Ydne9E_XD3qX0fbkiM9GM3AOw_QtPUtj0YwHOBVntBsNG9bbxORr65nIyRJxnkplHuK3FDaN3b9BmHpvxKeuGGm1uEgb27f0LyWiC4gk9o1-MXxA-ghXfAfjkNV7cLd3iKmlUef0xj2qHmACIopD39CuaAKqJY9PsCc9R61D0GpMJJNR4t5mj8Aq7ZLAFXGS4LIkJqApQofBImZKo_q_JgP8hn2mELPimXePbkk_8uf4BgESVvQjg=w916-h585-no?authuser=0” width=500, height=300/>

Setup and Launch

# Make sure the RPLIDAR is connected
ls -l /dev | grep ttyUSB0

# Set permissions for the RPLIDAR
sudo chmod 666 /dev/ttyUSB0

# catkin_make and launch
cd catkin_ws
catkin_make
roslaunch rplidar_ros rplidar.launch
roslaunch check_obstacle {multi_range/detector}.launch

Installation

With prior install of rplidar_ros

cd catkin_ws/src
sudo git clone https://github.com/oliverburrus/obstacle_detector.git

Without prior install of rplidar_ros

# Install dependencies.
sudo apt-get update
sudo apt-get install cmake python-catkin-pkg python-empy python-nose python-setuptools libgtest-dev python-rosinstall python-rosinstall-generator python-wstool build-essential git

cd ~/catkin_ws/

gedit ~/.bashrc
#Add the following at the END of the .bashrc file

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

# Save and close

source ~/catkin_ws/devel/setup.bash
cd src
sudo git clone https://github.com/Slamtec/rplidar_ros.git
sudo git clone https://github.com/oliverburrus/obstacle_detector.git