README.md

amr_navigation_ros

A 2D navigation metapackage for AMR (Autonomous Mobile Robot)

Docker Supported (Demo only)

This package is also used in roomba_navigation_ros

Environment

• Ubuntu 20.04
• ROS Noetic
• (Docker)

Requirement

• python3-vcstool

System

packages

Package	Build Status	Language
amr_navigation_utils_ros		C++
a_star_ros		C++
base_controller_ros		C++
dwa_planner		C++
emcl_ros		C++
gridmap_to_pointcloud_ros		C++
gyrodometry_ros		C++
icp_matching_ros		C++
likelihood_field_gridmap_ros		C++
local_goal_creator_ros		C++
pointcloud_storer_ros		C++
raycast_mapping_ros		C++
recovery_behavior_ros		C++
scan_to_pcl_ros		C++
waypoint_editor_ros		Python
waypoint_manager_ros		Python

Use docker (Demo only)

git clone https://github.com/ToshikiNakamura0412/amr_navigation_ros.git && cd amr_navigation_ros

# build an image, create a container and start demo (Ctrl-c: stop a container and exit)
docker compose up
# remove a container
docker compose down

Not use docker

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/amr_navigation_ros.git
cd amr_navigation_ros
vcs import navigation < .rosinstall

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build -DCMAKE_BUILD_TYPE=Release                 # Release build is recommended

Running the demo

Using simulator

# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build -DCMAKE_BUILD_TYPE=Release                 # Release build is recommended

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch amr_navigation_ros demo.launch