ROS SLAM & Navigation code for mechanum wheeled omnidirectional mobile platform
Dependency from apt:
sudo apt-get install ros-kinetic-robot-gmapping
sudo apt-get install ros-kinetic-robot-amcl
sudo apt-get install ros-kinetic-joy
Dependency repository: https://github.com/MLCS-Yonsei/teb_local_planner.git
cd catkin_ws/src
git clone https://github.com/MLCS-Yonsei/dualarm_mobile.git
cd ..
catkin_make
source ~/.bashrc && source ~/catkin_ws/devel/setup.bash
Bringup
roslaunch dualarm_mobile_bringup bringup.launch
SLAM-gmapping
roslaunch dualarm_mobile_localization gmapping.launch
AMCL
roslaunch dualarm_mobile_localization amcl.launch
cartographer_ros (SLAM)
roslaunch dualarm_mobile_localization cartographer_slam.launch
cartographer_ros (only localization)
roslaunch dualarm_mobile_localization cartographer_navigation.launch
teb_local_planner
roslaunch dualarm_mobile_planner teb_local_planner.launch
Teleop (keyboard)
roslaunch dualarm_mobile_teleop dualarm_mobile_teleop_key.launch
Teleop (xbox360 controller)
roslaunch dualarm_mobile_teleop dualarm_mobile_teleop_joy.launch
Map saver
rosrun map_server map_saver -f $(find dualarm_mobile_navigation)/maps/map
Goal pub
rostopic pub /move_base_simple/goal geometry_msgs/PoseSmped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 1.1, y: 7.9, z: 0.0}, orientation: {z: -0.1, w: 1.0}}}'