Navigation goals

ROS package for mobile robot navigation based on move_base.

Installation

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.

Waypoints following example

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