haidai / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

ROS Navigation Stack (Mayfield version)

Version: 0.1 Maintainer: Kaijen Hsiao ([email protected])

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

To test pull requests before merging, run the following:

roslaunch turtlebot_gazebo turtlebot_playground.launch

In a second terminal, run our custom nav stack (Mayfield folks only):

roslaunch gizmo_ros_navigation navigation_demo.launch sim:=true

The equivalent inside this stack, which unfortunately doesn't have very good params (not needed if you did the last launch), is: roslaunch turtlebot_gazebo amcl_demo.launch

Finally, run rviz with an appropriate config file:

sudo apt-get install ros-indigo-turtlebot-interactions
roslaunch turtlebot_rviz_launchers view_navigation.launch

Use the 2D Nav Goal button in rviz to give the robot navigation goals.