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sigverse hsr navigation

How to install

cd library
pip install .

How to use

import rospy
from geometry_msgs.msg import Pose2D
from sigverse_hsrb_nav import HSRBNavigation
rospy.init_node("hsrb_nav")
hsrbnav = HSRBNavigation()
hsrbnav.navigation(Pose2D(3, 1, 1.57), "abs")

How to create map

singularity shell -B /run/user/1000,/var/lib/dbus/machine-id --nv env/sandbox_sigverse/
source /entrypoint.sh
source devel/setup.bash
roslaunch sigverse_hsr_nav navigation.launch
  • teleopeを活用してマップを作成
  • 別のターミナルにてmap_saverを利用して保存
rosrun map_server map_saver -f <保存したいファイル名>

How to run

  • mapの表示・確認
rosrun map_server map_server <map_path>
rosrun tamhome_pointing_estimation visualize_clicked_point_node.py
rviz -d common_pkgs/sigverse_hsrb_nav/config/make_map.rviz
  • navigationを実行
roslaunch sigverse_hsr_nav navigation.launch