ROS package for mobile robot navigation based on move_base.
sudo apt-get install ros-<distro>-navigation
Install husky simulation, reference:
sudo apt-get install ros-<distro>-husky-*
echo "export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro" >> ~/.bashrc
source ~/.bashrc
Husky simulation is tested on Gazebo 7 + ROS kinetic.
In case you want to use a turtlebot3 simulation, reference:
sudo apt-get install ros-<distro>-turtlebot3-*
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
source ~/.bashrc
Turtlebot simulation is tested both on Gazebo 7 + ROS kinetic and Gazebo 9 + ROS melodic set-ups.
Bringup simulated environment and spawn a husky robot in it.
roslaunch navigation_goals husky_main.launch
Or in order to spwan a turtlebot in a simulated environment:
roslaunch navigation_goals turtlebot3_main.launch
Command a robot to visit a sequence of waypoints.
roslaunch navigation_goals send_wp_sequence.launch