Introduction

The goal of this lab is to gain experience using the Python actionlib interface to the ROS navigation system.

Steps

1. Clone the random_nav github repository into your catkin_ws/src folder:

git clone GITURL random_nav

2. Execute catkin_make in your workspace directory.
3. If you want to complete the lab on a Turtlebot, plug in both USB cables and execute:

   roslaunch random_nav turtlebot.launch
   

4. If you want to complete the lab in gazebo, execute:

   roslaunch random_nav simulator.launch
   

5. Open the file random_nav.py and complete the node according to the included comments.

Going Further

If you finish the steps above, try modifying random_nav.py so that it selects a single random destination, navigates to that goal, then returns to the robots starting location. Accomplishing this will require you to use the tf system to determine the robot's initial location in the map coordinate frame. You can then store this location to use as the final navigation destination.