mybot_ws

This repo was cloned from : github.com/richardw05/mybot_ws

URDF model for Gazebo integrated with ROS

This repository includes :

1. base - create simple URDF model
   
2. base_sensors - add sensors to robot
   
3. navigation - enable autonomous navigation (now updated for ROS Melodic Morenia)

For more information on running the code:
http://moorerobots.com/blog/post/6

You way also want to check out these video tutorials :
https://www.youtube.com/watch?v=1aX7NFvKehs&list=PLPdFwncBNrd0mA9uOdKaTossDczzI_EQG&index=9

Our contribution

In the following we describe our contribution :

1. Add a 'relaxed_astar' package that implements Relaxed A* algorithm, to replace the default base navigation algo.
2. Use of an empty map instead of a pre-computed one.

To launch a typical simulation scenario, type in different consoles the following command lines :

1. Gazebo :

$ roslaunch mybot_gazebo mybot_world.launch 

2. Navigation

$ roslaunch mybot_navigation amcl_demo.launch 

Note that if you want to manually drive the robot around, the previous command can be replaced by :

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py 

If this command doesn't work, make sure to install the 'teleop_twist_keyboard' package with :

$ sudo apt-get install ros-melodic-teleop-twist-keyboard

3. Rviz visualization tool :

$ roslaunch mybot_description mybot_rviz_amcl.launch 

Warning :

Make sure to copy input_p2.pgm that you can find at the root of this directory (same place as src, build, devel ...) and put it at /home/{username}/.ros/
Indeed, the current mybot_navigation path planning implementation expects finding this file at the indicated location.