ganwy2017 / codrha_local_planner

Distributed multi-robot local motion planner plugin for ROS navigation stack

DRHMP plugin for ROS navigation stack

Dependencies

ROS (assuming ros-indigo-desktop-full already installed):

sudo apt-get install ros-indigo-navigation -y
sudo apt-get install ros-indigo-nlopt -y
sudo apt-get install ros-indigo-gmapping -y
sudo apt-get install ros-indigo-turtlebot -y

G++ 4.9:

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-4.9

For using matplotlib whithin cpp code when testing:

sudo apt-get install python-gtk2 python-gtk2-dev -y
sudo apt-get install gtkmm-2.4 -y

CMake 3:

sudo apt-get install software-properties-common -y
sudo add-apt-repository ppa:george-edison55/cmake-3.x
sudo apt-get update

When cmake is not yet installed:

sudo apt-get install cmake

When cmake is already installed:

sudo apt-get upgrade

Fix nlopt lib (no need for kinetic):

sudo ln -s /opt/ros/indigo/lib/libnlopt_cxx.so /opt/ros/indigo/lib/libnlopt_cxx.so.0

Logs:

Send goal to robot

rostopic pub tb00/move_base/goal move_base_msgs/MoveBaseActionGoal '{ header: { seq: 0, stamp: 0, frame_id: "map"}, goal_id: { stamp: 0, id: "map" }, goal: {target_pose: {header: {seq: 0, stamp: 0, frame_id: "map"}, pose:{position:{x: 0., y: 0., z: 0\. }, orientation:{x: 0., y: 0., z: 0., w: 1.}}}}}'

Multi-robot setup

Environment variables:

export ROS_NAMESPACE=tb00
export TURTLEBOT_NAME=tb00

Launch file:

<param name="tf_prefix" value="tb00_tf" />

Took the following out from demo.launch

<arg name="scan_topic" value="/scan"/>

rosrun kobuki_ftdi create_udev_rules

chrt --rr 99 roslaunch turtlebot_2dnav 2d_nav_demo.launch