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Simultaneous Path Planning of Planner Control RRT Algorithm and Turtlebot3-Burger Robot in MATLAB and Gazebo

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Hello,
How can I implement the Planner Control RRT path planning algorithm in MATLAB and run it in parallel with a simulated mobile robot (e.g., Turtlebot3-Burger) in Gazebo world (e.g., Gazebo Office) ?
Thanks

Accepted Answer

Anurag
Anurag on 29 Aug 2023
As per my understanding of the questio­­­n,you need to implement a path planning algorithm in MATLAB and then run that on a mobile robot in Gazebo world.
You can follow the following steps :
  • Get started by setting up the MATLAB Robotics System Toolbox for path planning and robot simulation. Also, set up ROS and include the TurtleBot3 package for Gazebo-based robot simulation.
  • Implement the path planning algorithm using RRT (Rapidly-exploring Random Tree) in MATLAB. Generate paths by connecting random points.
  • Establish communication between MATLAB and ROS. Create ROS nodes in MATLAB to plan paths based on robot data and to control robot movement using planner control RRT.
  • Launch the Gazebo simulation environment and activate your MATLAB ROS nodes for path planning and robot control. Witness your TurtleBot3 navigating its way through the simulated world.
Hope this helped!

More Answers (1)

Vidip Jain
Vidip Jain on 31 Aug 2023
Implementing the Planner Control RRT (Rapidly-exploring Random Trees) path planning algorithm in MATLAB and running it in parallel with a simulated mobile robot in Gazebo involves multiple steps, including setting up the simulation environment, implementing the RRT algorithm, and interfacing MATLAB with the simulation.
Here's a general overview of the process:
  1. Setup gazebo world and download URDF model of the Turtlebot3-Burger for the simulation.
  2. Implement the RRT algorithm: Write MATLAB code to implement the Planner Control RRT algorithm. This involves creating a tree of random configurations and connecting them to form a feasible path from the start to the goal.
  3. Interfacing MATLAB with Gazebo:
  • ROS Toolbox: MATLAB Robotics System Toolbox supports ROS (Robot Operating System). You can use ROS Toolbox to interface with Gazebo and ROS nodes.
  • ROS communication: Use ROS nodes to communicate between MATLAB and the Gazebo simulation. You'll need to publish and subscribe to appropriate topics to send commands and receive sensor data.
  • Sending Path: Once your RRT algorithm generates a path, you can send the path waypoints as ROS messages to the mobile robot in Gazebo.
Refer to this documentation for more information: https://www.mathworks.com/help/ros/getting-started-with-ros-toolbox.html

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