The workspace is created in ros-noetic. The purpose of creatng this workspace is to test navigation parameters for 4 wheel omni bot (holonomic/non-holonomic). The controller for the navigation is not working as expected due to unknown reasons so I have used a planar plugin to move the bot according to the velocities published on cmd_vel topic.
This workspace have the URDF of 4 omni-wheeled bot, partially created using Autodesk Fusion360 & partially created/modified by me.
$ roslaunch fwomni gazebo.launch
$ roslaunch fwomni gmapping.launch
$ roslaunch fwomni amcl.launch
There are two files of dwa local planner, one for holonomic & another for non-holonomic motion. Update the name of dwa local planner file in the move_base.launch to make the navigation holonomic/non-holonomic.
$ roslaunch fwomni navigation.launch
$ roslaunch fwomni automate.launch
Run following command on another terminal to start the path
$ rostopic pub /automate/command std_msgs/String "start"