edit this matlab code: max $50

%% this code is suppose to is be able to detect an obstacle, stop in front of obstacle, go pass by the obstacle

if ismember([login to view URL], rostopic('list'))

laser_sub = rossubscriber('/scan');


if ismember([login to view URL], rostopic('list'))

velocity_pub = rospublisher([login to view URL],'geometry_msgs/Twist');

% velocity_sub = rossubscriber('cmd_vel', 'geometry_msgs/Twist');


velocity_msg = rosmessage(velocity_pub);

% Set some parameters that will be used in the processing loop.

% You can modify these values for different behavior.

spinVelocity = 0.6; % Angular velocity (rad/s)

forwardVelocity = 0.2; % Linear velocity (m/s)

backwardVelocity = -0.6; % Linear velocity (reverse) (m/s)

distanceThreshold = .6; % Distance threshold (m) for turning

% Run a loop to move the robot forward and compute the closest obstacles


% the robot. When an obstacle is within the limits of the


% the robot turns. This loop stops after 20 seconds of run time.

% CTRL+C (or Control+C on the Mac) also stops this loop.


while toc < 20

% Collect information from laser scan

scan_data = receive(laser_sub,1);


data = readCartesian(scan_data);

x = data(:,1);

y = data(:,2);

% Compute distance of the closest obstacle

dist = sqrt(x.^2 + y.^2);

minDist = min(dist);

% Command robot action

scan_data = receive(laser_sub);

if minDist < distanceThreshold

% If close to obstacle, back up slightly and spin

velocity_msg.Linear.X = backwardVelocity;

velocity_msg.Angular.Z = spinVelocity;


velocity_msg.Angular.Z = -spinVelocity;



% Continue on forward path

velocity_msg.Linear.X = forwardVelocity;

velocity_msg.Angular.Z = 0;


send(velocity_pub, velocity_msg);


% let TurtleBot stop before disconnect from it

velocity_msg.Angular.Z = 0.0;

velocity_msg.Linear.X = 0.0;

send(velocity_pub, velocity_msg);

Evner: Matlab and Mathematica

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Om arbejdsgiveren:
( 0 bedømmelser ) Dearborn, United States

Projekt ID: #16706875

9 freelancere byder i gennemsnit $86 på dette job


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$155 USD in 5 dage
(66 bedømmelser)

Hi. My name is Uzair. I am in final semester of my masters in Electrical Engineering. I am doing my thesis in biomedical signal processing and Machine learning. I have more than 3 years of experience in MATLAB special Flere

$55 USD in 3 dage
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I have high proficiency in Matlab , SPSS Statistics, Simulation, Mathematics, Python,Algorithm, C programming, Machine learning and Statistics analysis. Once you share the project, I will have a look & confirm if I can Flere

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$120 USD in 3 dage
(5 bedømmelser)

I realized that this code is subscribing to ros laser scan msg I have very good experience in matlab and ros and I am sure I can help you

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$155 USD in 3 dage
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I'm Expert in IA, image processing and computer vision for more 20 years. For more details see my publications: [login to view URL]

$111 USD in 3 dage
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Hey I am an expert electrical engineer. I have done several projects with matlab. So please ping me up with more details so that we can get this done asap.

$55 USD på 1 dag
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Hi, I am Omar. I have been working with MATLAB for more than two years now with many projects in a variety of different fields, for sure control of small mobile robots was one of them, I can help you solve this error. Flere

$30 USD på 1 dag
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