Package Summary

Tags No category tags.
Version 0.1.0
License BSD Clause 3
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Ekumen-OS/andino.git
VCS Type git
VCS Version humble
Last Updated 2024-02-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Bring up nav2 package with Andino.

Additional Links

No additional links.

Maintainers

  • Olmer Garcia
  • Franco Cipollone

Authors

No additional authors.

Andino Navigation

We rely on Nav2 stack in order to navigate Andino.

Usage

Real Robot

Prerequisites

  1. Andino robot needs to be up and running:
  ros2 launch andino_bringup andino_robot.launch.py

  1. 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>

Simulation

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.

CHANGELOG

Changelog for package andino_navigation

0.1.0 (2023-10-09)

  • Renames andino_gazebo package to andino_gz_classic. (#153)
  • Updates logo and minor doc changes (#130)
  • nav2 gazebo example (#109)
  • Contributors: Franco Cipollone, Olmer Garcia-Bedoya

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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