This repository contains various ROS packages that allows you to interface with your Omron AMR Mobile Robot via the ROS environment.
For Point Cloud-based Obstacle Avoidance, check the branch obs_avoidance_devel. To find the developer's guide, click Here.
On information pertaining to robot to camera calibration, see Here.
- Capture AMR status information
- General status of AMR
- Laser scan values
- Odometer values
- Map goals
- Application fault messages
- Visualize AMR via RVIZ tool
- Display loaded map
- Display live laser scans
- Display forbidden areas
- Display map goals
- Navigate AMR
- Go to specified goal point
- Go back to designated dock
- Navigate and localize AMR using RViz
- Go to a specified point on RViz map
- Localize to a specified point on RViz map
For details on the packages' inner workings, see the Developer's Guide.
ROS is not able to have access to robot hardware, therefore this package does not have full access to all AMR's capabilities. This package uses ARCL to communicate and control the AMR and thus the limitations of this package is defined by ARCL's limitations.
ARCL Reference Guide, 18448-000 Rev A, Updated: 1/19/2017 which is included in root directory of this repository.