작성자: 박준규

최초작성 2023.01.13(금) 수정 2023.01.16(월)

AI Car Racing 팀 (기계공학과 자율주행차팀)에서 TurtleSim에 DWA (Dynamic Window Approach) Planner를 적용시켜보라는 과제를 내주었다. 뭐 어떻게 해야될지는 잘 모르겠지만 차근차근해보자. 아래는 과제 전문이다:

DWA Source Code (Python)

• 목표
• 조건
• Tips

자 드가자~

TurtleSim Topics

Turtlesim topics: (can check using rostopic list after running turtlesim using rosrun turtlesim turtlesim_node

• cmd_vel
• color_sensor
• pose

What messages do these topics use?

• cmd_vel (can check using rostopic info /turtle1/cmd_vel)
  • Message type: geometry_msgs/Twist
  • Publishers: Whatever node that wants to manipulate the velocity of turtle
    • None when turtlesim is the only node that we run
  • Subscribers: turtlesim node (turtle screen)
• color_sensor
  • not going to touch this for now
• pose
  • Message type: turtlesim/Pose
  • Publishers: turtlesim node (the turtlesim node gives info about the current location of turtle, i guess)
  • Subscribers: Whatever node that needs to know the info about the current location of the turtle, i guess
    • None when turtlesim is the only node that we run