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Navigation RB1

Install

Install dependencies

rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

Sim Robot

Mapping

Terminal 1

ros2 launch cartographer_slam cartographer.launch.py use_sim_time:=True

Terminal 2

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Launch only localization with Rviz

ros2 launch localization_server localization.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True rviz:=True

Launch only PathPlanner

ros2 launch path_planner_server path_planner_server.launch.py type_simulation:=sim_robot use_sim_time:=True

Launch entire navigation

ros2 launch path_planner_server navigation.launch.py type_simulation:=sim_robot use_sim_time:=True map_file:=warehouse_map_sim_edit.yaml

Real Robot

Mapping

Terminal 1

ros2 launch cartographer_slam cartographer.launch.py use_sim_time:=False

Terminal 2

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Launch only localization

ros2 launch localization_server localization.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False

Launch only PathPlanner

ros2 launch path_planner_server navigation.launch.py type_simulation:=real_robot use_sim_time:=False

Launch entire navigation

ros2 launch path_planner_server navigation.launch.py type_simulation:=real_robot use_sim_time:=false map_file:=warehouse_map_real.yaml