heyrobo

Teleoperation and Autonomous navigation of a 2 wheeled mobile robot using ros is performed here. The ros version noetic is used, change the keyword noetic as per which ros version you're using.

In-order to launch the robot in gazebo and rviz type these commands in terminal

• roslaunch heyrobo_description gazebo.launch
• roslaunch heyrobo_description display.launch

In-order to teleoperate the mobile robot

• sudo apt-get install ros-noetic-teleop-twist-keyboard
• rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Mapping

• sudo apt-get install ros-noetic-gmapping
• rosrun gmapping slam_gmapping

To save the generated map

• sudo apt-get install ros-noetic-map-server
• rosrun map_server map_saver -f filename

download the dependencies for the parameters to run

• sudo apt-get install ros-noetic-amcl
• sudo apt-get install ros-noetic-move-base
• sudo apt-get install ros-noetic-dwa-local-planner

To perform Navigation

• roslaunch heyrobo_navigation heyrobo_navigation.launch