Simple odometry and costmap simulator for testing local and global planners
Clone this package into your workspace
Install dependencies:
rosdep install -y --from-paths . --ignore-src --rosdistro "$ROS_DISTRO"
- Publish a 2D nav goal using Rviz's "2D Nav Goal" tool and clicking somewhere on the map
- Set the location & orientation of the robot using Rviz's "2D Nav Goal" tool. The robot will warp to wherever you click
- Drive the robot manually using rqt's "Robot Steering" tool under
Plugins > Robot Tools
- By default, everything is launched under the "robot" namespace
- Odometry:
/robot/odom
- Map:
/map
- Steering:
/robot/cmd_vel
- Nav goal:
/robot/move_base_simple/goal
- Set pose of robot:
/robot/set_pose
Launch dynamic reconfigure (rqt > Plugins > Configuration
) to view the planner's dynamic parameters
To run the simulator with ROS's default local planner:
roslaunch nav_sim test.launch planner:=base
To run the simulator with TEB local planner:
roslaunch nav_sim test.launch planner:=teb