robodrive

A simple ROS Navigation tutorial project

robodrive_bringup

This package in working stage. Doesn't work for now

robodrive_controller

Contain diff_drive_controller and twist_mux package. Launch twist_mux for specify namespace

roslaunch robodrive_controller twist_mux.launch namespace:=<namespace>

robodrive_description

Contain rviz and robodrive urdf file.

robodrive_navigation

Using amcl for localization and move_base package. Launching navigation for specify namespaces

roslaunch robodrive_navigation navigation.launch namespace:=<namespace> open_rviz:=<bool>

robodrive_simulation

Contain gazebo and robot_spawner

Launch the simulaton

roslaunch robodrive_simulation sim.launch

Spawning robot for specify namespaces

roslaunch robodrive_simulation robot_spawner.launch namespace:=<namespace> x_pos:=<x> y_pos:=<y> z_pos:=<z>

robodrive_slam

Contain localization and mapping algorithm For launching mapping Using gmapping for mapping algorthm.

roslaunch robodrive_slam mapping.launch

and save map by

rosrun map_server map_saver -f <map_name>

robodrive_teleop

Contain joystick and keyboard controller launch file. For manuel keyboard controller

roslaunch robodrive_teleop robodrive_teleop_key.launch 

For manuel joystick controller

roslaunch robodrive_teleop robodrive_teleop_joy.launch

You must to be launch twist_mux.launch file showing at the up side

tmux.sh

Running 2 automate robot simulation and navigation in multiple pane

bash tmux.sh