RAS_Navigation is a set of systems that allows a turtlebot3 to navigation around the world. This is done by utilizing Cartographer for real-time simultaneous localization and mapping (SLAM). The navigational system is setup to go to a certain point on the map by either listeing to the setGoal topic or through the use of the action library.
To get started, simply download the RAS github package and follow the main package's installation instructions!
To launch the navigational system enter:
roslaunch ras_navigation RAS_Navigation
To create a new map with the navigational system:
roslaunch ras_navigation RAS_Navigation new_map:=true
To configure the navigational settings, edit the files located in params. More specification on parameters can be found there.
For the time being, RAS_Navigation handles setting up the tf tree. The tf tree when only the navigational system is running can be seen below.
When the object detection system is runnig, the camera tree will be linked to the main tree under base_link.