/jackal_outdoor

A SLAM package for ClearPath Jackal in Outdoor scenarios

Primary LanguageC++

Outdoor Navigation:

Overview -

This is a research project to explore navigation strategies in outdoor terrains that have diverse topographical features. The setup we used are:

  • ClearPath Jackal
  • Intel Realsense D435i (RGB-D) camera
  • Hokuyo URG Lidar
  • Alienware Laptop

Setup -

We explored terrains such as grass, pavements, brick road, and tar road. Our solution works both indoor and outdoor. We were able to achieve short navigation goals in an outdoor scene and excellent Visual SLAM implementation indoors.

Results:

Outdoor Mapping results

Indoor Navigation Video

Dependencies -

  • ROS Kinetic/Melodic
  • RTABMAP
  • robot_localization

Run

roslaunch outdoor_waypoint_nav robot_sim_mapping.launch

References: