nagarjunvinukonda / Human-aware-navigation-using-RVO

This developing repo is for my research on human aware navigation using RVO.

Human-aware Navigation

Human-aware Navigation System for Robot.

NOTE: This is a developing repository for our research.

Dependencies

This repository has been developed and tested in Ubuntu 18.04 and ROS Melodic only.

• The robot used in this package is Gopher-Nurse-Robot.

  • git clone [e-mail]:hiro-wpi/Gopher-Nurse-Robot.git
  • As we are only using the mobile base for navigation, there is no need to install the package of Konova robot arms. But remember to set the "with_arms" argument to "false" when launching the robot

Other packages needed:

• ros_control: ROS packages including controller interfaces, controller managers, transmissions, etc.

  • sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

• gazebo_ros_pkgs and gazebo_ros_control: Wrappers, tools and additional API's for using ROS with Gazebo

  • sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

• gmapping, amcl and move_base: ROS SLAM, localization and navigation package

• sudo apt-get install ros-melodic-map-server

  • sudo apt-get install ros-melodic-gmapping
  • sudo apt-get install ros-melodic-amcl
  • sudo apt-get install ros-melodic-move-base

Authors:

Nagarjun Vinukonda and Zhuoyun Zhong

Running

• Launch the Gopher robot in Gazebo (Note the simulation is paused at the beginning.)

  roslaunch gopher_gazebo spawn_gopher.launch

  If you would like to launch the robot in any other worlds

  roslaunch gopher_gazebo gopher.launch world_name:=<world_file_name>