This is a simple implementation of move_base sending multiple goals. ROS Distro : Kinetic
Clone all the packages from this repo https://github.com/husky/husky
Create a catkin workspace, clone the existing repo.
Do not forget to source the files.
There are 2 nodes available
- Performing the basic move_base operation and reaching the goal.
- Calculating the distance travelled.
Open the terminal, Run
Run the husky gazebo simulation, which brings up all the required components.
Now bring up the move_base
Now bring up the amcl for the localization of the robot. (Map -> base_link transformation)
Now bringup the visualizer in a seperate terminal
change the topic of global frame to /map and add the map, marker_array from the add option available in the visualizer. in order to visualise both the map and the marker array
Now run the node that was developed
Incase if you want to change the goal positions, change the goals.yaml file in the configuration folder.