dualarm_mobile

ROS SLAM & Navigation code for mechanum wheeled omnidirectional mobile platform

Dependency

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

Installation

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

Usage

Running an environment

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}}}'