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amr_navigation_ros

License: MIT

A 2D navigation metapackage for AMR (Autonomous Mobile Robot)

Docker Supported (Demo only)

This package is also used in roomba_navigation_ros

Environment

  • Ubuntu 20.04
  • ROS Noetic
  • (Docker)

Requirement

  • python3-vcstool

System

packages

Package Build Status Language
amr_navigation_utils_ros Build Status C++
a_star_ros Build Status C++
base_controller_ros Build Status C++
dwa_planner Build Status C++
emcl_ros Build Status C++
gridmap_to_pointcloud_ros Build Status C++
gyrodometry_ros Build Status C++
icp_matching_ros Build Status C++
likelihood_field_gridmap_ros Build Status C++
local_goal_creator_ros Build Status C++
pointcloud_storer_ros Build Status C++
raycast_mapping_ros Build Status C++
recovery_behavior_ros Build Status C++
scan_to_pcl_ros Build Status C++
waypoint_editor_ros Python
waypoint_manager_ros Python

Use docker (Demo only)

git clone https://github.com/ToshikiNakamura0412/amr_navigation_ros.git && cd amr_navigation_ros

# build an image, create a container and start demo (Ctrl-c: stop a container and exit)
docker compose up
# remove a container
docker compose down

Not use docker

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/amr_navigation_ros.git
cd amr_navigation_ros
vcs import navigation < .rosinstall

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build -DCMAKE_BUILD_TYPE=Release                 # Release build is recommended

Running the demo

Using simulator

# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build -DCMAKE_BUILD_TYPE=Release                 # Release build is recommended

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch amr_navigation_ros demo.launch