AMR Remote Control Toolkit

By using this package, you can achieve below functions by sending topic for your 2D AMR:

• launch slam algorithm
• save map
• load map files and launch amcl

It is encouraged to use legubiao/ros2d-quasar as well.

Installation

install rosbridge-server

sudo apt-get install ros-noetic-rosbridge-server

pip install (for conda user)

pip install twisted pyOpenSSL autobahn service_identity tornado pymongo pillow

clone the repository

cd ~/catkin_ws/src
git clone https://github.com/legubiao/AMR-Remote-Control-Toolkit
cd ..
catkin_make

Try with Turtlebot3 Simulation

Install TurtleBot3 Packages

sudo apt install ros-noetic-dynamixel-sdk ros-noetic-turtlebot3-msgs ros-noetic-turtlebot3

Install gmapping and dwa local planner

sudo apt-get install ros-noetic-gmapping ros-noetic-dwa-local-planner

Install TurtleBot3 Simulation Package

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

Set Default TurtleBot3 Model

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
source ~/.bashrc

Modified the default map folder in launch/turtlebot.launch

Launch the demo

roslaunch amr_rctk turtlebot.launch

You can launch gmapping by send to map_command topic

The slam node will be started and rviz will popup

In order to save map, just send save YOUR_MAP_NAME to the map_command topic