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 2024-06-17
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

The andino_slam package

Additional Links

No additional links.

Maintainers

  • Franco Cipollone

Authors

  • Franco Cipollone

andino_slam

Description

For achieving SLAM we rely on the great slam_toolbox package.

Usage

After the robot bring up, simply execute the provided launch file.

ros2 launch andino_slam slam_toolbox_online_async.launch.py

Several configuration can be forwarded to the slam_toolbox_node. By default, the configuration parameters are obtained from config/slam_toolbox_only_async.yaml. In case a custom file is wanted to be passed, simply use the launch file argument for indicating the path to a new file.

ros2 launch andino_slam slam_toolbox_online_async.launch.py slams_param_file:=<my_path>

For saving the map you can use map_saver_cli node provided by Nav2.

ros2 run nav2_map_server map_saver_cli -f <my-map-name>

You can modify the threshold for free space (0.25) and occupied space (0.65) by using --free and --occ arguments.

ros2 run nav2_map_server map_saver_cli --free 0.15 -f <my-map-name>

More information at: - https://navigation.ros.org/configuration/packages/configuring-map-server.html - https://github.com/ros-planning/navigation2/tree/main/nav2_map_server

Once you have the map saved, you can navigate on it! Go to andino_navigation to learn how.

CHANGELOG

Changelog for package andino_slam

0.1.0 (2023-10-09)

  • Adds convenient launch file for rviz in andino_slam package. (#145)
  • Updates logo and minor doc changes (#130)
  • Adds andino_slam package. (#82)
  • Contributors: Franco Cipollone

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

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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