Scout_mini_ROS1_Navigation

Implementation of Autonomous driving of scout_mini in gazebo simulator using SLAM+EKF+Point_Cloud+GMAPPING

1. Installation

1. mkdir -p ~/scout_ws/src
2. cd ~/scout_ws/src
3. Clone this repository in your src as
   git clone
4. chmod +x install_packages.sh && ./setup.sh

mapping, Navigation, Robot_localization packages will be downloaded

5. rosdep install --from-paths src --ignore-src -r -y
6. catkin_make
7. source devel/setup.bash

rosdep install command will automatically install the required dependencies for the packages in the workspace. The dependencies are listed in CMakeLists.txt file in the packages.

2. Implementation

1. Display platform description in RVIZ

   In terminal 1: 
   cd ~/scout_ws
   source devel/setup.bash
   roslaunch scout_description display_scout_mini.launch 
   

   This will show you default vehicle platform without additional sensors.

2. Launch gazebo simulator and teleop control

   a. Launch gazebo simulator

   In terminal 1:
   cd ~/scout_ws
   source devel/setup.bash
   roslaunch scout_gazebo_sim scout_mini_empty_world.launch
   

b. Run teleop controller (move: w, a, x, d / stop: s)

```
//Open another terminal
In Terminal 2:

cd ~/scout_ws
source devel/setup.bash
roslaunch scout_teleop scout_teleop_key.launch 
```

3. 2D SLAM

Before running any command below, source devel/setup.bash

0. Run Simulator

   In Terminal 1:
   roslaunch scout_gazebo_sim scout_mini_playpen.launch
   

1. Odometry & Kalman Filter Localization

   In Terminal 2:
   roslaunch scout_base scout_mini_base.launch
   

   In Terminal 3:
   roslaunch scout_filter ekf_filter_cmd.launch
   

2. SLAM mapping

   a. Gmapping

   In Terminal 4:
   // Run gmapping slam
   roslaunch scout_slam scout_slam.launch
   

b. Drive & mapping

```
// Drive via teleop
In terminal 5:
roslaunch scout_teleop scout_teleop_key.launch
```

c. Save map

```
// Save map
In Terminal 6:
roslaunch scout_slam gmapping_save.launch
```
- default map file name: map1
- map file will be saved in "scout_bringup/scout_slam/maps"
- you can change saved map file name in the launch file
- or you can set file name
    ```
    roslaunch scout_slam gmapping_save.launch map_file:=(file name)
    ```

Now close everything.

3. 2D Navigation

Before running any command below, source devel/setup.bash

0. Run Simulator

   In terminal 1: 
   roslaunch scout_gazebo_sim scout_mini_playpen.launch
   

1. Odometry & Kalman Filter Localization

   In Terminal 2:
   roslaunch scout_base scout_mini_base.launch
   

   In Terminal 3:
   roslaunch scout_filter ekf_filter_cmd.launch
   

2. Navigation

   // Run navigation
   In Terminal 4:
   roslaunch scout_navigation scout_navigation.launch
   

   you can set the destination via "2D Nav Goal" button