Autonomous Path Planning of Trailer based AGV with obstacle avoidance

• Ubuntu : 20.04+
• ROS : Noetic+
• CPU : ARM7+ or Intel i3+ or AMD R4+
• RAM : 4GB+
• Memory : 10GB+

• sudo apt-get install ros-noetic-gmapping
• sudo apt-get install ros-noetic-teleop-twist-keyboard
• sudo apt-get install ros-noetic-sbpl
• sudo apt-get install ros-noetic-teb-local-planner
• sudo apt-get install ros-noetic-global-planner
• sudo apt-get install ros-noetic-map-server
• sudo apt-get install ros-noetic-move-base

note Run the scripts in the following sequence

• Terminal 1 -
  • mkdir AGV_Trailer
  • cd AGV_Trailer
  • git clone https://github.com/siddharthumakarthikeyan/AGV-Trailer-Robot-Path-Planner.git
  • catkin_make
• Terminal 2 -
  • source ~/AGV_Trailer/devel/setup.bash
  • roscore
• Terminal 3 -
  • source ~/AGV_Trailer/devel/setup.bash
  • cd Coppeliasim/
  • ./coppeliasim.sh (launches coppelia sim)
  • load the scene from ~/AGV_Trailer/src/coppeliasim_ws/vrep_scenes/
• Terminal 4 -
  • source ~/AGV_Trailer/devel/setup.bash
  • roslaunch coppeliasim_ws teleop.launch
• Terminal 5 -
  • source ~/AGV_Trailer/devel/setup.bash
  • roslaunch coppeliasim_ws mapping.launch
• Terminal 6 -
  • source ~/AGV_Trailer/devel/setup.bash
  • roslaunch coppeliasim_ws nav.launch
  • send goals via rviz