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

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

Answer 1

[Anurag]

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!

[Mohammad Rastegarpanah]

Thank you !

Answer 2

[Vidip Jain]

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