CMPUT 412 Winter 2018 Competition 1: Pursuit & Evasion, By Jae-yeon (Leo) Yoon and Sumeyye Aydin

The competition report can be found !

To download the necessary files:

git clone https://github.com/leoyoon17/CMPUT-412-Competition-1

Note: Don't forget to connect the usb cables from the Kobuki base, the Asus Xtion Pro Live, and the logitech controller to your computer! (or ssh)

Note: This program does not have a launch file as Leo's computer was unable to create a workspace package with "catkin_make", thus launchfiles would not run properly.

To run the pursuit program, first open 5 terminals (or tmux windows, etc):

On the first terminal:

• $ roscore

On the second terminal:

• $ roslaunch turtlebot_bringup minimal.launch

On the third terminal:

• $ roslaunch turtlebot_bringup 3dsensor.launch

On the fourth terminal:

• $ roslaunch turtlebot_teleop logitech.launch

On the fifth terminal:

• change directory to /Competition 1/CMPUT-412-Competition-1/src/followbot

• ./follower.py cmd_vel:=cmd_vel_mux/input/teleop

• Finally, press the 'X' button on the logitech controller to start or stop the program!

To run the evasion program, again, open 5 terminals (or tmux windows, etc):

On the first terminal:

• $ roscore

On the second terminal:

• $ roslaunch turtlebot_bringup minimal.launch

On the third terminal:

• $ roslaunch turtlebot_bringup 3dsensor.launch

On the fourth terminal:

• $ roslaunch turtlebot_teleop logitech.launch

On the fifth terminal:

• change directory to /Competition 1/CMPUT-412-Competition-1/src/evadebot

• $ ./wander.py cmd_vel:=cmd_vel_mux/input/teleop

• Finally, press the 'X' button on the logitech controller to start or stop the program!