applications
The "applications" repository is a ROS package that contains files to combine different nodes with different robots to setup different applications. Each launch file in the "launch" directory is a concrette application. Next there are some examples of applications execution.
Example 1: Autonomous navigation NVP + GN-fusion (offline mode via rosbag)
Requirements to use application:
- System requirements: Ubuntu 20.04 and ROS Noetic.
- External libraries: ceres-solver-2.0.0 (IMPORTANT!! download version 2.0.0). Eigen and PCL are usually installed join with ROS.
- Local libraries: lib_planning.
- External ROS packages: iri_base_algorithm, "sudo apt-get install ros-noetic-ackermann-*", "sudo apt-get install ros-noetic-robot-state-*", "sudo apt-get install ros-noetic-hector-*".
- Local ROS packages: robot_blue, aurova_preprocessed, aurova_odom, aurova_localization, and aurova_planning.
Steps to use application:
- Download bag file for this example.
- Modify "launch/nav_NVP_GN_offline.launch" to provide correct link in "bag_file_1" argument.
- Modify "params/nav_NVP_GN_offline.yaml" to provide correct link in "url_path" variable.
- Run next command for localization:
roslaunch applications nav_NVP_GN_offline.launch- For autonomous navigation send "2D Nav Goal" from rviz.
Example 2: Autonomous navigation NVP + GN-fusion (gazebo simulation)
Requirements to use application:
- System requirements: Ubuntu 20.04 and ROS Noetic.
- External libraries: ceres-solver-2.0.0 (IMPORTANT!! download version 2.0.0). Eigen and PCL are usually installed join with ROS.
- Local libraries: lib_planning.
- External ROS packages: iri_base_algorithm, "sudo apt-get install ros-noetic-ackermann-*", "sudo apt-get install ros-noetic-robot-state-*", "sudo apt-get install ros-noetic-hector-*".
- Local ROS packages: robot_blue, aurova_preprocessed, aurova_odom, aurova_localization, and aurova_planning.
- BLUE model for Gazebo: Follow instructions in robot_blue_gazebo.
Steps to use application:
- Modify "params/nav_NVP_GN_gazebo.yaml" to provide correct link in "url_path" variable.
- Run next command for localization:
roslaunch applications nav_NVP_GN_gazebo.launch- For autonomous navigation send "2D Nav Goal" from rviz.
Example 3: Autonomous navigation NVP + GN-fusion (online BLUE robot)
Requirements to use application:
- System requirements: Ubuntu 20.04 and ROS Noetic.
- External libraries: ceres-solver-2.0.0 (IMPORTANT!! download version 2.0.0). Eigen and PCL are usually installed join with ROS.
- Local libraries: lib_planning.
- External ROS packages: iri_base_algorithm, "sudo apt-get install ros-noetic-ackermann-*", "sudo apt-get install ros-noetic-robot-state-*", "sudo apt-get install ros-noetic-hector-*".
- Local ROS packages: robot_blue, aurova_preprocessed, aurova_odom, aurova_localization, and aurova_planning.
Steps to use application:
- Modify "params/nav_NVP_GN_online.yaml" to provide correct link in "url_path" variable.
- Run next command for localization:
roslaunch applications nav_NVP_GN_online.launch- For autonomous navigation send "2D Nav Goal" from rviz.