/jackal

Common packages for Jackal, including messages, robot description, and controllers

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

jackal

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Common packages for Jackal, including messages and robot description. These are packages relevant to all Jackal workspaces, whether simulation, desktop, or on the robot's own headless PC.

Topic name

  • imu: /imu/data/*
  • gps: /navsat/*
  • pointcloud: /velodyne_points

Environment

sudo apt-get install ros-noetic-jackal-simulator ros-noetic-jackal-desktop

git clone https://github.com/DrawingProcess/jackal

jackal Spawn

jackal 2d lidar

roslaunch jackal_gazebo jackal_world.launch config:=front_laser

roslaunch jackal_viz view_robot.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

jackal 3d lidar

roslaunch jackal_gazebo jackal_world.launch config:=3d_lidar

rosrun jackal_velodyne pcl_filter_node # topic /velodyne_points to /scan

roslaunch jackal_viz view_robot.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Navigation

NAVIGATION WITHOUT A MAP

# To launch the navigation demo, run:
roslaunch jackal_navigation odom_navigation_demo.launch

# To visualize with the suggested rviz configuration launch:
roslaunch jackal_viz view_robot.launch config:=navigation

MAKING A MAP

# Jackal generates a map using gmapping. 
roslaunch jackal_navigation gmapping_demo.launch

# And on your workstation, launch rviz with the suggested configuration:
roslaunch jackal_viz view_robot.launch config:=gmapping

# When you’re satisfied, you can save the produced map using map_saver:
rosrun map_server map_saver -f mymap

NAVIGATION WITH A MAP

# To start the AMCL demo:
roslaunch jackal_navigation amcl_demo.launch map_file:=/path/to/my/map.yaml

# To visualize with the suggested rviz configuration launch:
roslaunch jackal_viz view_robot.launch config:=localization