omni_navigation

This version is compaitable with ROS melodic

ROS package navigation to omnibot. Do make sure that Ros-navigation is installed.

• Ros Navigation

    $ sudo apt-get install ros-melodic-navigation
  

If you plan to use teb or eband planner, do install them too.

• EBand local planner

    $ sudo apt-get install ros-kinetic-eband-local-planner
  

• TEB local planner

    $ sudo apt-get install ros-kinetic-teb-local-planner
  

Omni_navigation

• Clone the package folder

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/Shervina-lim/omni_navigation.git
    $ cd ..
    $ catkin_make
  

FT sensor

• Install driver for ATI Mini45 FT sensor (refer to: http://wiki.ros.org/netft_utils) $ cd ~/catkin_ws/src $ git clone https://github.com/UTNuclearRoboticsPublic/netft_utils.git $ cd .. $ catkin_make

• Configure network settings

    Ethernet network -> Edit connections -> Wired connection _ (usually is the last one) -> edit -> IPV4 settings
    set method to manual 
    Address: 192.168.1.100
    Subnet mask: 255.255.255.0
  

• Launching FT node $ rosrun netft_utils netft_node 192.168.1.1 $ rostopic echo /netft_data

Laserscan Merger

• Install ira_laser_tools to merge laserscans from both lidars (refer to: http://wiki.ros.org/ira_laser_tools)

Make sure to install the melodic version.

	$ cd ~/catkin_ws/src
	$ git clone https://github.com/iralabdisco/ira_laser_tools.git
	$ cd ..
	$ catkin_make

Simulation

The launch files can be found in launch/omni_gazebo and config files are in config/omni_gazebo

To run simulation

	$ roslaunch omni_navigation simulation.launch

and another terminal

	$ roslaunch omni_navigation eband.launch

Real robot (still testing)

The launch files can be found in launch/robot and config files are in config/omni_bot

	$ roslaunch omni_navigation bot_eband.launch

Learn more about using the ROS navigation stack at http://wiki.ros.org/navigation