Navigation Stack

Gazebo simulation of a bot equipped with GPS navigation using navigation stack.

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How to Run

1. Install:

      sudo apt-get install ros-melodic-navigation
      sudo apt-get install ros-melodic-robot-localization

2. Clone repo:

      git clone https://github.com/aditirao7/nav_stack.git

3. On 4 separate terminals, run (inside repo folder nav_stack):

      catkin_make && source devel/setup.bash

4. Then run:

      roslaunch mybot_gazebo mybot_world.launch
      
      roslaunch mybot_navigation localization.launch
      
      roslaunch mybot_description navigation_rviz.launch
      
      cd src/mybot_navigation
      chmod +x goal.py
      rosrun mybot_navigation goal.py 49.9000357573 8.8999449505

5. Give the GPS location for goal.py accordingly.

Issues

• Goal that is too far will give warning: "goal is off the global costmap" in the localization terminal.
• GPS goal orientation is 1.0 because move_base requires goal orientation