naviton_navigation

Navigation system for outdoor mobile robot.

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Requirements

• Ubuntu 20.04
• ROS Noetic
• nvidia driver
• docker (optional)
• nvidia docker (optional)

1. Setup

Recommend

cd ~/catkin_ws/src
git clone https://github.com/KobeKosenRobotics/naviton_navigation.git
./naviton_navigation/setup.bash

or

Manual

sudo apt update
sudo apt install -y python3-vcstool
cd ~/catkin_ws/src
git clone https://github.com/KobeKosenRobotics/naviton_navigation.git
cd naviton_navigation
vcs import depend < depend_packages.repos --recursive
cd ../..
rosdep install -i -y --from-paths src
catkin build

or

Docker

Requirements

• docker
• nvidia docker

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/KobeKosenRobotics/naviton_navigation/main/docker/naviton/run.bash)" -g

When you exit and go out of the container, naviton_navigation.bash is created in the home directory.
From the second time on, use the following command.

./naviton_navigation.bash

2. Demo

cd ~/catkin_ws
source devel/setup.bash
roslaunch nvt_core demo.launch

Demo Video

start_demo.mp4

demo.mp4

Cite Navit(oo)n

Thank you for citing our paper if you use any of this code:

@article{naviton2023,
  title={Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge},
  author={Hara, Shunya and Shimizu, Toshihiko and Ozawa, Masayoshi and Sakai, Masahiko and Oyama, Tadahiro and Samuel, Amar Julien},
  journal={Journal of Robotics and Mechatronics},
  volume={35},
  number={6},
  pages={1540--1549},
  year={2023},
  publisher={Fuji Technology Press Ltd.}
}