manuelilg / autonomous_navigation

autonomous_navigation

Overview

Multi-Map Navigation of a autonomous robot with cartographer

Keywords: navigation, multi-map, localization, cartographer

The autonomous_navigation package has been tested under ROS Kinetic and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Use Docker-Container

Dependencies

• [Docker] (https://www.docker.com/) Installation https://docs.docker.com/install/linux/docker-ce/ubuntu/ (and not with apt install docker)

The package autonomous_navigation with all dependencies is installed in the Docker-Container https://hub.docker.com/r/manuelilg/autonomous_navigation/

docker pull manuelilg/autonomous_navigation
docker run ... (see Description from Docker-Repository)

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• [catkin_tools] (https://catkin-tools.readthedocs.io/en/latest/)
• [multi_map_navigation] (https://github.com/manuelilg/multi_map_navigation)
• [lidar_turtlebot] (https://github.com/manuelilg/lidar_turtlebot)

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/manuelilg/autonomous_navigation.git
<install all other dependencies (ros-packages) and sub-dependencies (according to Readme from other packages)>
cd ../
rosdep update
rosdep install --from-paths src --ignore-src -r -y
catkin build

Usage

How to create a map:

1. Record data while driving in the environment:

    roslaunch lidar_turtlebot_cartographer record.launch
   

2. Run offline cartographer node (creates .pbstream-file):

    roslaunch lidar_turtlebot_cartographer turtlebot_offline.launch bag_filenames:=/....
   

3. Create map:

    roslaunch lidar_turtlebot_cartographer turtlebot_map_creation.launch bag_filenames:=/...
   

Run multi-map navigation (on the robot):

roslaunch lidar_turtlebot_bringup indoor_3d.launch
roslaunch lidar_turtlebot_navigation scan_navigation.launch
roslaunch multi_map_navigation multi_map_navigation.launch

Set goals for navigation and visualize the robot and the laser-scan data (on desktop):

xhost local:[docker-container-id] (that the container has access to the diplay)
rviz -d /catkin_ws/src/multi_map_navigation/multi_map_navigation/rviz/multi_map.rviz