basavarajnavalgund / Workplace-Service-Robot

Autonomous Mobile Robot (AMR), a holonomic drive with 4 mecanum-wheels. It autonomously maps an environment, localizes itself, and navigate to pick-up and drop-off objects in a simulated environment.

Workplace Service Robot

Pre requisites

• install gazebo 7+
• ros kinetic

Install all the other required packages

	rosdep install --from-paths . --ignore-src -r -y 

How to run the gazebo sim

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To perform SLAM with gmapping

./test_slam.sh

To perform SLAM with gmapping including obstacle avoidance

./obstacle_avoidance.sh

To launch autonomous navigation

./test_navigation.sh

To launch RVIZ

rviz