Copernicus

Version: 1.0.0 ROS packages used to to run copernicus with hardware

• copernicus_base - Package contains files to connect to the robot and run the sensor driver.
• copernicus_control - Control configuration required for ROS control.
• copernicus_description - copernicus Robot description (URDF files).
• copernicus_localization - Sensor fusion of wheel odometry and IMU data using the robot localization package.
• copernicus_msgs - contains ROS messages specific to copernicus such as the power board messages,..etc
• copernicus_navigation - Contains files required for running gmapping, amcl and move_base ROS packages.
• copernicus_teleoperation - Control the robot using keyboard or Joystick.
• copernicus_rules - Contains rules that ensures the USB peripherals are bound correctly

Steps to Launch copernicus :

1. Mapping an environment with copernicus

• Launch the move_base node by running:
  

$ roslaunch copernicus_base bringup.launch   

• Launch the sensors node by running:
  

$ roslaunch copernicus_base sensors.launch   

• To perform the mapping, launch the navigation package by running
  

$ roslaunch copernicus_navigation navigation.launch gmapping:=true  

• Launch the rviz visualization tool by running:
  

$ rosrun rviz rviz  

You can then open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool

• In order to control the robot, launch the teleoperation node by running:
  

$ roslaunch copernicus_teleoperator teleoperator.launch keyboard:=true

• Once the mapping of the entire environment is completed, the map can be saved by running:
  

$ rosrun map_server map_saver –f <filename>

3. Navigation with copernicus

• Launch the move_base node by running:
  

$ roslaunch copernicus_base copernicus_bringup.launch   

• Launch the sensors node by running:
  

$ roslaunch copernicus_base copernicus_bringup.launch   

• To perform the Autonomous navigation, launch the navigation package by running
  

$ roslaunch copernicus_navigation navigation.launch  

• Launch the rviz visualization tool by running:
  

$ rosrun rviz rviz  

You can then open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool

Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map