Package demo for ROS navigation in Gazebo usingo Pioneer 3AT. This package was inspired by the Husky navigation tutorials. In this package a Pioneer 3AT is simulated with move_base as the mobile base controller and amcl as localization system.
The source code is released under a MIT license.
Author and Maintainer: Gabriel F P Araujo
The p3at_tutorial package has been tested under Ubuntu 18.04, ROS Melodic and Gazebo 9.
The package depends of the following packages:
sudo apt install ros-melodic-navigation ros-melodic-pr2-description
Config files are in folder config/
- costmap_common.yaml Set all costmap parameters that will be used by any other costmap in this package.
- costmap_global_laser.yaml Configure the laser costmap.
- costmap_global_static.yaml Configure the costmap produced by the static map.
- costmap_local.yaml Configure the costmap produced by the local map.
- planner.yaml Set the configuration of the used planners.
- Demo without map In two terminal windows:
Start the Pioneer 3AT simulation environment:
roslaunch p3at_tutorial pioneer3at.gazebo.launch
Start the move_base demo:
roslaunch p3at_tutorial move_base_mapless_demo.launch
- Demo localization with map In two terminal windows:
Start the Pioneer 3AT simulation environment:
roslaunch p3at_tutorial pioneer3at.gazebo.launch
Start the amcl demo:
roslaunch p3at_tutorial amcl_demo.launch
Randomly choose a pose in 10x10 square and send this pose to move_base as goal
rosrun p3at_tutorial random_walk