/mobile_robot_navigation

Primary LanguageMakefile

mobile_robot_navigation

This is a simple implementation of move_base sending multiple goals. ROS Distro : Kinetic

Platform used : Husky

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

  1. Performing the basic move_base operation and reaching the goal.
  2. Calculating the distance travelled.

Open the terminal, Run

roscore

Run the husky gazebo simulation, which brings up all the required components.

roslaunch husky_gazebo husky_playpen.launch

Now bring up the move_base

roslaunch husky_navigation move_base.launch

Now bring up the amcl for the localization of the robot. (Map -> base_link transformation)

roslaunch husky_navigation amcl.launch

Now bringup the visualizer in a seperate terminal

rviz

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

roslaunch neo_int_ws move_robot.launch

Incase if you want to change the goal positions, change the goals.yaml file in the configuration folder.