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This repository contains packages used for setting up odometry of the robot, creating map with kartographer

and configuring move_base

How to use this package

• Clone this repository

• Build all packages include in the src folder

• Upload the robokrub_bringup project into the Arduino MEGA used for controlling the mobile base

• Launch the robokrub_bringup.launch from robokrub_bringup_test to set up the robot information

• Launch robokrub_karto.launch in robokrub_karto packages for creating a map

• Launch robokrub_navigation in robokrub_navigation packages to launch move_base server

Install Cartographer

$ sudo apt-get install ros-melodic-cartographer ros-melodic-cartographer-ros ros-melodic-cartographer-ros-msgs ros-melodic-cartographer-rviz