Bug2 Motion Planning using RANSAC, ROS and Python

Uses RANSAC algorithm to detect walls from laser scan data and pass it to Bug2 node.

Bug2 is a motion planning algorithm uses that RANSAC data during wall following mode and reach the goal defined in launch file.

System Info

• Ubuntu 20.04 LTS
• ROS Noetic
• Python 3.8.10
• Simulator: stage_ros

To run the project use

Source your ros workspace first, and build package if not done

cd Desktop/ros1_ws/
source devel/setup.bash
catkin_make

roslaunch ransacbug2 perception.launch
roslaunch ransacbug2 bug2.launch

Motion Planning Demo