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scenario_navigation

Requirement

Mecab

sudo apt install mecab
sudo apt install libmecab-dev
pip3 install mecab-python3

git clone --depth 1 https://github.com/neologd/mecab-ipadic-neologd.git
cd mecab-ipadic-neologd
./bin/install-mecab-ipadic-neologd -n

Install this package and msgs

git clone https://github.com/haruyama8940/scenario_navigation_msgs.git
git clone https://github.com/haruyama8940/scenario_navigation.git

JSK　plugin

sudo apt install -y ros-noetic-jsk-visualization

Execute

  • Simulator (without vison)

  1. Launch the simulator

  2. Move robot to initial position

  3. Select a scenario in "navigation_cmd.launch"
    <param name="scenario_path" value="$(find scenario_navigation)/config/Scenarios/scenario01.txt" />

  4. Execute the scenario navigation with target direction roslaunch scenario_navigation navigation_cmd.launch

  • Real Robot (with vison)
  1. Execute the scenario navigation roslaunch scenario_navigation navigation_cmd.launch

Trouble-shooting

  • Mecab errors
error message: [ifs] no such file or directory: /usr/local/etc/mecabrc

Please check the installation path of mecabrc & copy

 sudo cp /etc/mecabrc /usr/local/etc/