scuttle_navigation

The scuttle_navigation ROS package provides configurations for the dwa_local_planner, the global planner and the different costmaps adapted to the SCUTTLE robot.

Dependencies

The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical SCUTTLE using Raspberry Pi OS.

1. ROS Noetic with the ros-noetic-navigation, ros-noetic-robot and ros-noetic-tf2 packages.
2. A working ROS workspace.
3. The scuttle_description package installed in your workspace.
4. The scuttle_bringup package installed in your workspace.

The ROS navigation assumes that a map is available either via acml and a map server or via a SLAM node. If no map is available then the navigation will fail.

Usage

After installing the prerequisites you can pull this repository to the device on which you want to run the code.

cd <YOUR_ROS_WORKSPACE>/src
git clone -b noetic https://github.com/scuttlerobot/scuttle_navigation.git

Once the code is on the device you can 'build' the workspace

cd <YOUR_ROS_WORKSPACE>
catkin_make

Finally you can run the navigation stack for SCUTTLE

roslaunch scuttle_navigation scuttle_navigation.launch

Configurations

There are several different configuration files for the different parts of the navigation stack. All of these configurations are referenced in the move_base.launch file.

Costmaps

The navigation stack uses two separate costmaps. One for the global planner and one for the local planner. Additionally there is a shared, common, configuration that has information that applies to both the global planner and the local planner.

DWA local planner

The configuration file for the local planner contains the configuration values for the DWA local planner.

Global planner

The configuration file for the global planner contains the configuration for the global planner.