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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.
- imu: /imu/data/*
- gps: /navsat/*
- pointcloud: /velodyne_points
sudo apt-get install ros-noetic-jackal-simulator ros-noetic-jackal-desktop
git clone https://github.com/DrawingProcess/jackal
roslaunch jackal_gazebo jackal_world.launch config:=front_laser
roslaunch jackal_viz view_robot.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
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
# 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
# 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
# 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