learning_nav

• This is a project to learn ROS navigation stack.
• The goal is to build a robot with URDF, running it in gazebo with laser range sensor, and be able to move to a specified goal autonomously.

Installation

• git clone this project into your catkin_ws/src
• cd to catkin_ws
• catkin_make

Execution

Open terminals to run following commands in-sequencial

• launch gazebo and spawn a robot

    # roslaunch learning_nav gazebo.launch
  

• run slam_gmapping

    # rosrun gmapping slam_gmapping scan:=/pioneer/laser/scan
  

• launch rviz, joint_state_publisher and robot_state_publisher

    # roslaunch learning_nav display.launch   
  

• run my_base_controller to serve /cmd_vel

    $ rosrun learning_nav mybot_base_controller
  

• run my_loop

    $ rosrun learning_nav mybot_loop
  

• run my_odometry

    $ rosrun learning_nav mybot_odometry
  

• run move_base to serve move-to-a-goal

    $ roslaunch learning_nav fake_move_base.launch
  

BUGS

• Currently, there is problem in move-to-a-goal. It looks like localization causes problems