TurtleBot3 Motion Planning

This project implements various motion planning algorithms for a TurtleBot3 robot using ROS2 and C++. The goal is to navigate the robot through multiple predefined targets while avoiding obstacles detected by its sensors.

Features

• Path Planning Algorithms: Includes implementations of BFS, DFS, A*, Dijkstra, and more.
• Obstacle Avoidance: Utilizes sensor data to detect and avoid obstacles dynamically.
• Multiple Targets: Defines a sequence of targets for the robot to navigate to.
• ROS2 Integration: Fully integrated with ROS2, allowing for easy simulation and testing in Gazebo.

Installation

1. Clone the repository:

   git clone https://github.com/ssaserkar/turtlebot3_motion_planning.git
   cd turtlebot3_motion_planning

2. Build the package:

   cd ~/turtlebot_ws
   colcon build --packages-select turtlebot3_motion_planning
   source install/local_setup.bash
   

Usage

1. Launch TurtleBot3 Simulation:

   export TURTLEBOT3_MODEL=burger
   ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

2. Run the Motion Planner Node:

   ros2 run turtlebot3_motion_planning motion_planner