NavRos
Autonomous Navigation for Differential Drive Robots
(Includes Gazebo simulation)
More information on the project : Blog post
Getting Started
cd catkin_ws/src- Clone this repo here :
git clone "https://github.com/YugAjmera/navros_pkg" cd ..(Go back to catkin_ws/)catkin_makesource ./devel/setup.bashsource ~/.bashrc
If catkin_make fails (probably controller_manager package does not exist)
sudo apt-get install ros-kinetic-controller-manager
Gazebo Simulation
(Skip this while working with real robot)
Change the urdf file as per the dimensions of your robot.
Install pointcloud_to_laserscan :
sudo apt install ros-kinetic-pointcloud-to-laserscan ros-kinetic-rosbridge-server
On a new terminal :
To launch the urdf model in Gazebo in a custom cafe environment :
roslaunch navros_pkg cafe_custom.launch
To launch the model in empty world in Gazebo :
roslaunch gazebo_ros empty_world.launch
roslaunch navros_pkg urdf_gazebo_view.launch
Keep this terminal running for all the next steps.
Laser sensor (Lidar or Kinect)
On a new terminal :
Run RVIZ :
cd catkin_ws/src/navros_pkg/rviz
rviz -d laser.rviz
Check if the laser readings are seen in RVIZ. After the laser readings are visible,close this terminal.
Mapping
On a new terminal :
Run SLAM :
roslaunch navros_pkg gmapping.launch
Run RVIZ :
cd catkin_ws/src/navros_pkg/rviz
rviz -d map.rviz
