AGV-OTA (ROS Noetic)

This repository includes the AGV ROS Noetic packages."main" branch is latest version of AGV-OTA.

agv_description: It is the sub-package containing urdf and mesh files of the AGV.
agv_simulation: It is a sub-package containing the package and launch files required for the simulation of the AGV.
agv_slam: It is a sub-package containing the slam_gmapping launch files.
agv_navigation: It is a sub-package containing the navigation launch and config files.
(NEW) agv_multirobot: It is a sub-package containing the AGV-OTA multirobot application files.

Launch Command:

Before using launch commands, you must unzip ~/agv/agv_description/meshes/OTAv07_meshes/OTA-v0.7.tar.xz file..

Gazebo Launching:

$ roslaunch agv_simulation agv_gazebo_emptyworld.launch

Gazebo (Depo Map) Launching:

$ roslaunch agv_simulation agv_gazebo_depo.launch

Solo-Rviz Launching:

$ roslaunch agv_simulation agv_rviz_standalone.launch

Rviz (with Gazebo) Launching:

$ roslaunch agv_simulation agv_rviz.launch

SLAM Mapping Launching (must work with Gazebo and RViz Launching):

$ roslaunch agv_slam agv_slam.launch

Navigation Launching:

$ roslaunch agv_navigation agv_navigation.launch

In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer.
```
  $ sudo apt update && sudo apt install ros-noetic-joint-state-publisher-gui
```
In order for the "joint_state_controller" to work, "joint_state_controller_gui" package must be downloaded to your computer.
```
  $ sudo apt install ros-noetic-ros-controllers
```

In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace.

  $ cd ~/catkin_ws/src && git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel

In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your computer.
```
  $ sudo apt-get install ros-noetic-gazebo-ros-pkgs
```
In order for the navigation tools to work properly, "ros-navigation" files must be downloaded to your computer.
```
  $ sudo apt-get install ros-noetic-ros-navigation
```
In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace.
```
  $ cd ~/catkin_ws/src && git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel
```

For Multirobot Launching:

  $ roslaunch agv_multirobot agv_multirobot.launch

For basic application of AGV-OTA Multirobots:
```
  $ rosrun agv_multirobot multi_move.py
```

Bug fixes on "agv_multirobot" subpackage about "tf_prefix" and "robot_state_publisher"
In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace.
```
  $ cd ~/catkin_ws/src && git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel
```