How to avoid obstacles in gazebo
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Modified to virtual machine IP address
Ipaddress = '192.168.137.129'
Initialization
Rosinit (ipaddress)
Get gazebo element
Gazebo = ExampleHelperGazeboCommunicator ()
% New and add a wall
Wall = ExampleHelperGazeboModel ('grey_wall','gazeboDB')
SpawnModel (gazebo,wall, [- 240])
%% set its posture after getting the robot
Kobuki = ExampleHelperGazeboSpawnedModel ('mobile_base',gazebo)
SetState (kobuki,'orientation', [0 pi/2])
New global variable
Global robot
Global velmsg
Get speed information for robot
Robot = rospublisher ('/ mobile_base/commands/velocity')
Velmsg = rosmessage (robot)
%% get robot's obstacle avoidance radar or something.
TimerHandles.sub = rossubscriber ('/ scan')
%% set up obstacle avoidance
T = timer ('TimerFcn', {@ exampleHelperGazeboAvoidanceTimer,timerHandles},' Period',0.1,'ExecutionMode','fixedSpacing')
%% start to avoid obstacles
Start (t)
%% add another wall
SpawnModel (gazebo,wall, [- 5.85 0.150], [0,0, pi/2])
% Program waits for 20 seconds.
Pause (20)
%% end obstacle avoidance march
Stop (t)
% get all objects
List = getSpawnedModels (gazebo)
Remove two walls
RemoveModel (gazebo,'grey_wall')
RemoveModel (gazebo,'grey_wall_0')
%% empty variables
Clear
% close connection
Rosshutdown
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