duth-lra / aspida_robot

The description package for ASPIDA robot .

ASPIDA robot - ASPiDA ESPA PROJECT

Prerequisites:

Install Ubuntu 20.04 - ROS noetic

Create a catkin workspace following the intructions: catkin workspace

Make sure that you have added the following lines at the end of your ~/.bashrc file:

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

Go to your ~/catkin_ws/src path:

$ cd ~/catkin_ws/src/

Add clone the following packages:

$ git clone https://github.com/duth-lra/ridgeback
$ git clone https://github.com/duth-lra/ridgeback_simulator
$ git clone https://github.com/duth-lra/ridgeback_robot
$ git clone https://github.com/duth-lra/ridgeback_baxter
$ git clone https://github.com/ros-planning/navigation
$ git clone https://github.com/nilseuropa/realsense_ros_gazebo

Follow the next commands to intall the packages :

$ cd ..

$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y

$ catkin_make

Start simulation

Launch gazebo model :

roslaunch ridgeback_gazebo ridgeback_world.launch

Launch the navigation :

roslaunch ridgeback_navigation odom_navigation_demo.launch

Visualize the rviz configuration:

roslaunch ridgeback_viz view_robot.launch config:=navigation

Making a Map

Launch the gmapping:

roslaunch ridgeback_navigation gmapping_demo.launch

Launch rviz :

roslaunch ridgeback_viz view_robot.launch config:=gmapping

Save the produced map using map_saver:

rosrun map_server map_saver -f mymap

This will create a mymap.yaml and mymap.pgm file in your current directory.

Navigation With a Map

Run the AMCL:

roslaunch ridgeback_navigation amcl_demo.launch [map_file:=/path/to/my/map.yaml]

Run Rviz:

roslaunch ridgeback_viz view_robot.launch config:=localization