A Turtlebot and Kuri were both given a challenge of navigating an obstacle course (containing boxes and cones). This was done to test whose navigation and localization was better in a static and dynamic environment (dynamic refers to when both robots are navigating the obstacle course together).
- Squares are boxes.
- Dots are cones.
- Kuri's navigation was more consistent than the Turtlebot as it had better localization. The turtlebot would often get confused as to where it was and end up spinning while trying to localize. This could be because the Turtlebot is older.
- Turtlebot had better online support as Kuri has been discontinued.
catkin_make
source /opt/ros/kinetic/setup.bash (Depending on where ROS is installed)
source devel/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=[MAP_FULL_PATH]
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
roslaunch turtlebot_navigation amcl_demo.launch map_file:=[MAP_FULL_PATH]
e.g [MAP_FULL_PATH] - /home/osboxes/RoboticsProject/Turtlebot-Kuri-Navigation/src/map/my_map.yaml
cd Turtlebot-Kuri-Navigation/src/navigate/src
python navigate_kuri.py --org " 0.030,0.309" --dest " -1, -1.71" " 1, -3.41" " -1, -5" " 0.115, -5.74" " 1,-5" " -1,-3.53"
cd Turtlebot-Kuri-Navigation/src/navigate/src
./kuri.sh or ./turtlebot.sh
cd Turtlebot-Kuri-Navigation/src/navigate/src
./kuri_home.sh
Note the spaces before - are important.
[view_navigation.launch] is neither a launch file in package [turtlebot_rviz_launchers] nor is [turtlebot_rviz_launchers] a launch file name
The traceback for the exception was written to the log file
http://wiki.ros.org/turtlebot_rviz_launchers
solution: sudo apt-get install ros-kinetic-turtlebot-rviz-launchers