Install Ubuntu 20.04 - ROS noetic
Create a catkin workspace following the intructions: catkin workspace
Make sure that you have added the following lines at the end of your ~/.bashrc file:
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
Go to your ~/catkin_ws/src path:
$ cd ~/catkin_ws/src/
Add clone the following packages:
$ git clone https://github.com/duth-lra/ridgeback
$ git clone https://github.com/duth-lra/ridgeback_simulator
$ git clone https://github.com/duth-lra/ridgeback_robot
$ git clone https://github.com/duth-lra/ridgeback_baxter
$ git clone https://github.com/ros-planning/navigation
$ git clone https://github.com/nilseuropa/realsense_ros_gazebo
Follow the next commands to intall the packages :
$ cd ..
$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make
Launch gazebo model :
roslaunch ridgeback_gazebo ridgeback_world.launch
Launch the navigation :
roslaunch ridgeback_navigation odom_navigation_demo.launch
Visualize the rviz configuration:
roslaunch ridgeback_viz view_robot.launch config:=navigation
Launch the gmapping:
roslaunch ridgeback_navigation gmapping_demo.launch
Launch rviz :
roslaunch ridgeback_viz view_robot.launch config:=gmapping
Save the produced map using map_saver:
rosrun map_server map_saver -f mymap
This will create a mymap.yaml and mymap.pgm file in your current directory.
Run the AMCL:
roslaunch ridgeback_navigation amcl_demo.launch [map_file:=/path/to/my/map.yaml]
Run Rviz:
roslaunch ridgeback_viz view_robot.launch config:=localization