forklift_noovelia

Contains ros packages for forklift project.

Gazebo simulation environment:

NOTE: this should now be encoded directly into the devel/setup.bash script.

Update the GAZEBO_MODEL_PATH variable, add the following to your ~/.bashrc file:

export GAZEBO_MODEL_PATH=/home/<YOUR USER NAME>/catkin_ws/src/forklift_robot/gazebo_noovelia/gazebo_models_noovelia/models:$GAZEBO_MODEL_PATH

This is needed in order to be able to load the different environments (otherwise you get "no namespace found" messages and an empty world

Control in Gazebo:

1. roslaunch forklift_gazebo forklift_warehouse.launch
2. rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Localization and Mapping(SLAM):

• Using gmapping(uses particle filer)

1. roslaunch forklift_mapping forklift_gmapping.launch
2. roslaunch ira_laser_tools laserscan_multi_merger.launch

• Using slam_toolbox(uses graph based slam)

1. roslaunch forklift_mapping forklift_slam_toolbox.launch
2. roslaunch ira_laser_tools laserscan_multi_merger.launch

The laserscan_multi_merger.launch publishes on /scan_multi topic after merging data from three lasers. The /scan_multi is subscribed by mapping node.