Version: 0.1 Maintainer: Kaijen Hsiao (kaijen@mayfieldrobotics.com)
A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.
To test pull requests before merging, run the following:
roslaunch turtlebot_gazebo turtlebot_playground.launch
In a second terminal, run our custom nav stack (Mayfield folks only):
roslaunch gizmo_ros_navigation navigation_demo.launch sim:=true
The equivalent inside this stack, which unfortunately doesn't have very good params (not needed if you did the last launch), is:
roslaunch turtlebot_gazebo amcl_demo.launch
Finally, run rviz with an appropriate config file:
sudo apt-get install ros-indigo-turtlebot-interactions
roslaunch turtlebot_rviz_launchers view_navigation.launch
Use the 2D Nav Goal button in rviz to give the robot navigation goals.