Traversability Mapping and Motion Planning

This is a repository for traversability mapping for UGVs in ROS. The code is modified on the repository Traversability Mapping.

Get Started

• Install ROS.

• Install ROS Navigation stack. You can install it by running sudo apt-get install ros-version-navigation. If you are using other versions of ROS, replace indigo in the command with your ROS version.

Run the System (in simulation)

1. Run the launch file:

roslaunch traversability_mapping offline.launch

or

roslaunch traversability_mapping dyx.launch

and set use_sim_time as true

2. Play existing bag files:

rosbag play *.bag --clock --topic /velodyne_points

Run the System (with real robot)

Run the launch file:

roslaunch traversability_mapping dyx.launch

and set use_sim_time as false

Run with Navigation

Update: we finish the navigation pipeline using default Astar global planner and DWA local planner, based on the traversability occupancy grid map. The pipeline can run in the gazebo simulation environment.

1. start a custom simulation environment in gazebo ''' $ roslaunch cpr_agriculture_gazebo agriculture_world.launch '''
2. run the lego_loam & traversability mapping (lego_loam provides the localization information) ''' roslaunch traversability_mapping dyx_simulation.launch '''