- This is a project to learn ROS navigation stack.
- The goal is to build a robot in gazebo which be able to move to a specified goal autonomously.
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Follow this document
http://web.engr.oregonstate.edu/~chungje/Code/Pioneer3dx%20simulation/ros-indigo-gazebo2-pioneer.pdf -
git clone this project into your catkin_ws/src
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cd to catkin_ws
-
catkin_make
Open 5 terminals to run following commands in-sequencial
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launch gazebo with robot and map
roslaunch learning_nav gazebo.launch -
launch navigation move_base node
roslaunch learning_nav move_base.launch -
run tf_broadcaster for odom->base_footprint
rosrun learning_nav tf_broadcaster -
run slam
rosrun gmapping slam_gmapping scan:=/pioneer/laser/scan -
launch rviz
roslaunch learning_nav display.launch
- base_controller to process /cmd_vel topic
- odom_publisher to report odometry info