ROS Navigation stack in Gazebo with Agilex Scout Mini

1. Additional Custom Global Planner Plugin

Download Global Planner Plugin

• rrtx global planner
• ompl global planner

How to use

• Create your own workspace (description in 2.1).
• Download above plugin in (your workspace)/src directory.

2. Installation and Navigation

0. Install the Gazebo software

• Gazebo is a robot simulator. Gazebo simulates multiple robots in a 3D environments, with extensive dynamic interaction between objects.
• Gazebo Download Link : http://gazebosim.org
• Download and install gazebo. You can go to the website : http://gazebosim.org/install

1. Installation

1. Development Environment ubuntu 20.04 + ROS Noetic desktop full

2. Build ROS packages for Scout simulator

   Create worksapce, download ROS packages

   mkdir -p ~/scout_ws/src
   cd ~/scout_ws/src
   git clone https://github.com/kangbeenlee/gazebo_navigation.git
   

3. Install required ROS packages

   Noetic (ROS version)

   cd gazebo-navigation
   sh install_dependencies_noetic.sh
   

4. Install dependencies and build

   cd ~/scout_ws
   rosdep install --from-paths src --ignore-src -r -y
   catkin_make
   

2. Simple Test

1. SCOUT-MINI description

   cd ~/scout_ws
   source devel/setup.bash
   roslaunch scout_description display_scout_mini.launch 
   

2. Launch gazebo simulator and teleop control

   1. Launch gazebo simulator

      cd ~/scout_ws
      source devel/setup.bash
      roslaunch scout_gazebo_sim scout_mini_playpen.launch
      

   2. Run teleop controller (w, a, s, d)

      # Open another terminal
      cd ~/scout_ws
      roslaunch scout_teleop scout_teleop_key.launch 
      

3. 2D Navigation

1. Gmapping SLAM mapping

   # Run gazebo simulator
   roslaunch scout_gazebo_sim scout_mini_playpen.launch
   

   # Run ekf_filter.launch to make odom frame
   roslaunch scout_localization ekf_filter.launch
   

   # Run gmapping slam
   roslaunch scout_slam scout_slam.launch
   

   # Save map (in another terminal)
   roslaunch scout_slam gmapping_save.launch
   

2. Navigation

   • EKF is applied to sensor fuse encoder and imu for odometry

   1. Run navigation with default global planner

      roslaunch scout_navigation scout_navigation.launch
      

   2. Run navigation with rrtx global planner

      roslaunch scout_navigation scout_navigation.launch base_global_planner:=rrtx_global_planner/RRTXPlanner rviz_option:=rrtx
      

   3. Run navigation with ompl global planner

      roslaunch scout_navigation scout_navigation.launch base_global_planner:=ompl_global_planner/OmplGlobalPlanner rviz_option:=ompl