copernicus repository

Repository Summary

Checkout URI https://github.com/botsync/copernicus.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-06-23
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

Copernicus

Version:1.1.0 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 binded 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>

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

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/botsync/copernicus.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-04-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

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

CONTRIBUTING

No CONTRIBUTING.md found.