robile_navigation

Navigation launch files for robile in gazebo and real robot

Instalation

This package depends on the robile packages and different ros navigation packages for the launch files to run.

1. Robile Description
2. Robile Gazebo

Follow the robile_gazebo instalation instructions and install the apt packages required for gazebo and launching robot in gazebo. Here we install packages required for navigation.

sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gmapping ros-$ROS_DISTRO-amcl ros-$ROS_DISTRO-map-server ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-dwa-local-planner

cd ~/catkin_ws/src
git clone https://github.com/mas-group/robile_description.git
git clone https://github.com/mas-group/robile_gazebo.git
git clone https://github.com/mas-group/robile_navigation.git
git clone https://github.com/mas-group/robile_slam.git

catkin build robile_description robile_gazebo
catkin build
source ~/catkin_ws/devel/setup.bash

Usage

To start the gazebo simulator, use one of the launch files defined in the launch/ directory as follows:

roslaunch robile_gazebo 4_wheel_platform.launch use_kelo_tulip:=false

This will launch the robile in simulation. Now we will launch the navigation stack to localize in the map

roslaunch robile_navigation navigation.launch