WoLF: Whole-body Locomotion Framework for quadruped robots

This package contains the navigation stack to be used with WoLF.

Mantainers:

Federico Rollo, Gennaro Raiola

How to use it:

The package provides the following features:

Navigation in known and unknown enviroments
Waypoints selection for navigation
Exploration and mapping

1) Navigation:

To perform navigation in a known enviroment you need a map already created and saved in https://github.com/graiola/wolf_navigation/tree/master/wolf_navigation_utils/maps.

To launch the navigation in the saved map type in the terminal:

roslaunch wolf_navigation_utils wolf_navigation.launch map_file:=MAP_FILE

otherwise, to perform navigation in a unknown enviroment:

roslaunch wolf_navigation_utils wolf_navigation.launch mapping:=true

2) Waypoints:

3) Exploration:

Notes:

To select the gazebo environment and the robot to use please take a look at the wolf_gazebo_resources and wolf_descriptions packages.

Dependencies:

Set velodyne gpus dependencies for gazebo:

To enable the velodyne simulation using the gpu with gazebo type the following commands in the terminal:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743

sudo apt update &&  sudo apt upgrade -y

ROS dependencies:

To install the required ros dependencies use the following command:

sudo apt-get install ros-${ROS_DISTRO}-pointcloud-to-laserscan \
                     ros-${ROS_DISTRO}-velodyne-laserscan      \
                     ros-${ROS_DISTRO}-velodyne-pointcloud     \
                     ros-${ROS_DISTRO}-velodyne-gazebo-plugins \
                     ros-${ROS_DISTRO}-velodyne-description    \
                     ros-${ROS_DISTRO}-hector-mapping          \
                     ros-${ROS_DISTRO}-move-base               \
                     ros-${ROS_DISTRO}-dwa-local-planner       \
                     ros-${ROS_DISTRO}-teb-local-planner       \
                     ros-${ROS_DISTRO}-map-server              \
                     ros-${ROS_DISTRO}-amcl                    \
                     ros-${ROS_DISTRO}-gmapping                \
                     ros-${ROS_DISTRO}-costmap-converter       \
                     ros-${ROS_DISTRO}-costmap-2d              \
                     -y

AheadIO / wolf_navigation