andino_navigation package from andino repoandino_base andino_bringup andino_control andino_description andino_firmware andino_gz_classic andino_hardware andino_navigation andino_slam
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|BSD Clause 3
- Olmer Garcia
- Franco Cipollone
We rely on Nav2 stack in order to navigate Andino.
- Andino robot needs to be up and running:
ros2 launch andino_bringup andino_robot.launch.py
- We need a previously recorded map in order to navigate on. Refer to andino_slam to learn how to record a map with Andino.
Run nav stack
ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file>
By default, config file is used. For using a custom param file use:
ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file> params_file:=<path-to-my-param-file>
A launch file for running the andino_gz_classic simulation and the nav2 stack is provided. It uses the turtlebot3_world world (Apache 2 license) by default.
ros2 launch andino_navigation andino_simulation_navigation.launch.py
To test the navigation inside rviz:
- click in 2D pose estimate button and select the initial pose of the robot
- click in nav2 Goal button and select the final point.
- the robot will start to move to the selected goal.
You test adding obstacles inside the Gazebo simulation or use the rviz button Waypoint/ nav through Poses mode to select sequential targets.
This package has been tested with the Andino robot with
diff drive plugin in gazebo. If you change the world you should change the map but also it is recommended to tune navigation parameters.