turtlebot control- Point clouds collision avoidance

[jiegenghua]

This is a simple package to control the turtlebot to avoid collision.

At first, we did the collision avoidance in the Simulink environment and it works well.

Then I change some topic to control the true turtlebot.

Here is some terminal need to open at the same time:

roslaunch turtlebot_bringup minimal.launch

roslaunch turtlebot_bringup 3dsensor.launch

roslaunch laserscan_to_pc2 ls_to_pc2.launch

roslaunch collision_avoidance_base ca.launch

[jiegenghua]

Very important!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Today I am thinking using reinforcement learning algorithm to control the turtlebot. I am not sure the effect yet and I am still learning ros. I have watched the effect of the simulation. It is very time costing and work not well enough. I will see. Just set the goal here in case I forget. Too much homework to do some research by myself. Bad English listening also costs me a lot of time to understand what the professor says in class and miss many important pieces of information in class. I am not good at communicating with others and like doing things by myself because if two complete one project, always there is one to play the role of instructor and I can't think because I am a nerd. But teamwork actually helps each other learn something that can't be learned by myself. I need to improve my English and change my fawn to be more like Ph.D. I am not a student anymore but need more like a researcher.