jajosheni/rabbitamr

ROS 1.x AMR (Autonomous Mobile Robot)

RabbitAMR

For a quick simulation run :

roslaunch rabbitamr_control spawn.launch
roslaunch rabbitamr_control teleop.launch

Packages' description :

• rabbitamr_base

  • hardware_interface implementation.

• rabbitamr_bringup

  • Start the real robot by *.launch files.

• rabbitamr_diagnostics

  • Check the status of the software & hardware components.

• rabbitamr_control

  • Rosbridge connection

  • Differential drive simulation

  • Customized teleop

• rabbitamr_description

  • Robot’s urdf design

• rabbitamr_desktop

  • Connect with Rosbridge and launch the website server, this way it’s possible to connect with the robot from any device.

• rabbitamr_gazebo

  • Different worlds

  • Start the robot in gazebo

• rabbitamr_landmarks

  • Action server to define a landmark.

• rabbitamr_msgs

  • Special msg files

• rabbitamr_navigation

  • Contains map, config and launch files to run navigation algorithms

• rabbitamr_cartographer

  • Contains config and launch files for mapping with the cartographer algorithm

• rabbitamr_robot

  • empty

• rabbitamr_simulator

  • Shows the robot virtually

  • gazebo_ros_control is used instead of ros_control.

• rabbitamr_test

  • temporary different test packages

• rabbitamr_viz

  • Displaying different information in RVIZ according to different situations

To add AWS factory on gazebo:

• Create a new file under ~catkin_ws/ called .rosinstall

• Paste in the following :

- git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: master}

• Install by running :

rosws update
rosdep install --from-paths . --ignore-src -r -y