Running the Demo

To start the demo, run the following commands in order:

1. Run ./env_setup.sh
2. Run roscore
3. Run rosrun cse571_project server.py -d 6 -n 40 -f 5 -b 5
4. Run roslaunch cse571_project maze.launch
5. Enter desired goal position in terminal running server.py (if running with -default-goal 0)
6. Run rosrun cse571_project move_tbot3.py
7. Run rosrun cse571_project search.py -a astar -c

server.py

Implements action execution and environment updation functions

Command-line arguments for server.py:

-h, --help show this help message and exit -d 5 for providing dimension of the grid -n 15 for providing no. of obstacles to be added in the grid -s 32 for providing random seed -f 3 for providing no. of refueling stations -b 15 for providing initial battery level -hdl 0 for running in headless mode(0 or 1) -default-goal 0 for running with default goal

Note:

• Enter desired goal position after running roslaunch cse571_project maze.launch
• For entering goal position, please use only values for x and y coordinates within the grid-dimension/2. For example, the acceptable values for x position of goal for a gird dimension of 4 are: 0,0.5,1,1.5,2

environment_api.py

Implements an interface to communicate with the server script. Please modify the state_to_check and action_to_check variables in script as required for code inspection

mazeGenerator.py

Environment generation script

move_tbot3.py, pid_pro.py

Handles movement of turtlebot. pid_pro.py adds onto pid.py with integrative error compensation.