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Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/rb1_base_common.git
VCS Type git
VCS Version melodic-devel
Last Updated 2019-07-03
Dev Status MAINTAINED
Released UNRELEASED

Package Description

This package configures the move_base stack and makes use of the gmapping and amcl algorithms to move the rb1_base robot

Additional Links

Maintainers

  • Angel Soriano
  • Álvaro Villena
  • David Redó
  • Alejandro Arnal
  • Marc Bosch
  • Román Navarro

Authors

  • Robotnik
For Gmapping:

1-Check correct location of laser - in some positions it can interfere with the
camera or the wheels.

2-Check correct orientation of the laser (up / down)

3-Check that the coherence of the laser range:
3.1 Check that the parameters in the urdf file match the real laser
the parameter maxRange of the urdf file 
    <maxRange>30.0</maxRange>
must be > than the maxUrange of the gmapping node param.
    <param name="maxUrange" value="16.0"/>

Simple test:

>roslaunch rb1_base_sim_bringup rb1_base_complete.launch

>roslaunch rb1_base_navigation move_base_amcl.launch id_robot:=rb1_base_a


CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

  • launch/navigation_amcl/move_base.launch
      • prefix [default: rb1_base_]
      • cmd_vel_topic [default: move_base/cmd_vel]
      • odom_topic [default: robotnik_base_control/odom]
      • global_frame [default: $(arg prefix)map]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_footprint]
      • laser_frame [default: $(arg prefix)front_laser_link]
      • scan_topic [default: front_laser/scan]
  • launch/navigation_amcl/amcl_rb1_base.launch
      • id_robot [default: rb1_base]
      • x_init_pose [default: 0]
      • y_init_pose [default: 0]
      • z_init_pose [default: 0]
      • prefix [default: $(arg id_robot)_]
      • scan_topic [default: front_laser/scan]
  • launch/navigation_amcl/move_base_amcl.launch
      • id_robot [default: rb1_base]
      • x_init_pose [default: 0]
      • y_init_pose [default: 0]
      • z_init_pose [default: 0]
      • load_map [default: willow_garage.yaml]
      • prefix [default: $(arg id_robot)_]
  • launch/gmapping/rb1_base_gmapping.launch
    • To save the map: rosrun map_server map_saver -f mymap
      • id_robot [default: rb1_base]
      • prefix [default: $(arg id_robot)_]
      • scan_topic [default: front_laser/scan]
      • map_frame [default: $(arg prefix)map]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_link]
      • max_urange [default: 19.9]
  • launch/gmapping/move_base_gmapping.launch
      • id_robot [default: rb1_base]
      • prefix [default: $(arg id_robot)_]
      • cmd_vel_topic [default: move_base/cmd_vel]
      • odom_topic [default: robotnik_base_control/odom]
      • scan_topic [default: front_laser/scan]
      • global_frame [default: $(arg prefix)map]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_link]
  • launch/docking/rb1_base_docking.launch
      • id_robot [default: rb1_base]
      • docking_qr [default: true]
      • docking_laser_reflectors [default: false]
      • distance_between_reflectors [default: 0.355]
      • fixed_frame [default: $(arg prefix)odom]
      • robot_base_frame [default: $(arg prefix)base_footprint]
      • marker_size [default: 0.12]
      • max_new_marker_error [default: 0.0008]
      • max_track_error [default: 0.002]
      • cam_image_topic [default: front_rgbd_camera/rgb/image_raw]
      • cam_info_topic [default: front_rgbd_camera/rgb/camera_info]
      • object_frame [default: $(arg prefix)noisy_marker]
      • laser_dock_middle_frame [default: $(arg prefix)docking_station_laser]
      • laser_filtered_dock_frame [default: $(arg prefix)filtered_docking_station_laser]
      • laser_filtered_contact_dock_frame [default: $(arg prefix)docking_station_laser_contact]
      • config_laser_reflectors_filter [default: $(find rb1_base_navigation)/config/docking/laser_filter_reflectors.yaml]
      • source_topic [default: front_laser/scan]
      • target_topic [default: front_laser/cloud_reflector]
  • launch/navigation_local/move_base_local.launch
      • id_robot [default: rb1_base]
      • prefix [default: $(arg id_robot)_]
  • launch/move.launch
      • id_robot [default: $(optenv ROBOT_ID rb1_base)]
      • prefix [default: $(arg id_robot)_]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_footprint]
      • has_safety_controller [default: false]
      • cmd_vel_topic [default: move/cmd_vel]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rb1_base_navigation at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/rb1_base_common.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-09-17
Dev Status MAINTAINED
Released RELEASED

Package Description

This package configures the move_base stack and makes use of the gmapping and amcl algorithms to move the rb1_base robot

Additional Links

Maintainers

  • Angel Soriano
  • Álvaro Villena
  • David Redó
  • Alejandro Arnal
  • Marc Bosch
  • Román Navarro

Authors

  • Robotnik
For Gmapping:

1-Check correct location of laser - in some positions it can interfere with the
camera or the wheels.

2-Check correct orientation of the laser (up / down)

3-Check that the coherence of the laser range:
3.1 Check that the parameters in the urdf file match the real laser
the parameter maxRange of the urdf file 
    <maxRange>30.0</maxRange>
must be > than the maxUrange of the gmapping node param.
    <param name="maxUrange" value="16.0"/>

Simple test:

>roslaunch rb1_base_sim_bringup rb1_base_complete.launch

>roslaunch rb1_base_navigation move_base_amcl.launch id_robot:=rb1_base_a


CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

  • launch/navigation_amcl/move_base.launch
      • prefix [default: rb1_base_]
      • cmd_vel_topic [default: move_base/cmd_vel]
      • odom_topic [default: robotnik_base_control/odom]
      • global_frame [default: $(arg prefix)map]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_footprint]
      • laser_frame [default: $(arg prefix)front_laser_link]
      • scan_topic [default: front_laser/scan]
      • front_camera_frame [default: $(arg prefix)front_rgbd_camera_link]
      • front_rgbd_to_scan_topic [default: front_rgbd_camera/point_cloud_scan_filtered]
      • head_camera_frame [default: $(arg prefix)torso_rgbd_camera_link]
      • head_rgbd_to_scan_topic [default: torso_rgbd_camera/point_cloud_scan_filtered]
  • launch/navigation_amcl/amcl_rb1_base.launch
      • id_robot [default: rb1_base]
      • x_init_pose [default: 0]
      • y_init_pose [default: 0]
      • z_init_pose [default: 0]
      • prefix [default: $(arg id_robot)_]
      • scan_topic [default: front_laser/scan]
  • launch/navigation_amcl/move_base_amcl.launch
      • id_robot [default: rb1_base]
      • x_init_pose [default: 0]
      • y_init_pose [default: 0]
      • z_init_pose [default: 0]
      • load_map [default: willow_garage.yaml]
      • prefix [default: $(arg id_robot)_]
  • launch/gmapping/rb1_base_gmapping.launch
    • To save the map: rosrun map_server map_saver -f mymap
      • id_robot [default: rb1_base]
      • prefix [default: $(arg id_robot)_]
      • scan_topic [default: front_laser/scan]
      • map_frame [default: $(arg prefix)map]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_link]
      • max_urange [default: 19.9]
  • launch/gmapping/move_base_gmapping.launch
      • id_robot [default: rb1_base]
      • prefix [default: $(arg id_robot)_]
      • cmd_vel_topic [default: move_base/cmd_vel]
      • odom_topic [default: robotnik_base_control/odom]
      • scan_topic [default: front_laser/scan]
      • global_frame [default: $(arg prefix)map]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_link]
  • launch/docking/rb1_base_docking.launch
      • id_robot [default: rb1_base]
      • docking_qr [default: true]
      • docking_laser_reflectors [default: false]
      • distance_between_reflectors [default: 0.355]
      • fixed_frame [default: $(arg prefix)odom]
      • robot_base_frame [default: $(arg prefix)base_footprint]
      • marker_size [default: 0.12]
      • max_new_marker_error [default: 0.0008]
      • max_track_error [default: 0.002]
      • cam_image_topic [default: front_rgbd_camera/rgb/image_raw]
      • cam_info_topic [default: front_rgbd_camera/rgb/camera_info]
      • object_frame [default: $(arg prefix)noisy_marker]
      • laser_dock_middle_frame [default: $(arg prefix)docking_station_laser]
      • laser_filtered_dock_frame [default: $(arg prefix)filtered_docking_station_laser]
      • laser_filtered_contact_dock_frame [default: $(arg prefix)docking_station_laser_contact]
      • config_laser_reflectors_filter [default: $(find rb1_base_navigation)/config/docking/laser_filter_reflectors.yaml]
      • source_topic [default: front_laser/scan]
      • target_topic [default: front_laser/cloud_reflector]
  • launch/navigation_local/move_base_local.launch
      • id_robot [default: rb1_base]
      • prefix [default: $(arg id_robot)_]
  • launch/move.launch
      • id_robot [default: $(optenv ROBOT_ID rb1_base)]
      • prefix [default: $(arg id_robot)_]
      • odom_frame [default: $(arg prefix)odom]
      • base_frame [default: $(arg prefix)base_footprint]
      • has_safety_controller [default: false]
      • cmd_vel_topic [default: move/cmd_vel]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rb1_base_navigation at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/rb1_base_common.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-01-16
Dev Status MAINTAINED
Released RELEASED

Package Description

This package configures the move_base stack and makes use of the gmapping and amcl algorithms to move the rb1_base robot

Additional Links

Maintainers

  • Robotnik

Authors

  • Robotnik
For Gmapping:

1-Check correct location of laser - in some positions it can interfere with the
camera or the wheels.

2-Check correct orientation of the laser (up / down)

3-Check that the coherence of the laser range:
3.1 Check that the parameters in the urdf file match the real laser
the parameter maxRange of the urdf file 
    <maxRange>30.0</maxRange>
must be > than the maxUrange of the gmapping node param.
    <param name="maxUrange" value="16.0"/>



CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rb1_base_navigation at answers.ros.org

No version for distro hydro. Known supported distros are highlighted in the buttons above.