Metu-navigation

Installation

Clone repository from github

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/metu-rover/metu_navigation/

Build before execution

cd ~/catkin_ws
catkin_make
sourcd ~/caktin_ws/devel/setup.bash

ODOMETRY

roslaunch metu_navigation odometry.launch

MAPPING

roslaunch metu_gazebo metu_maze.launch

To start rtabmap:

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:= rgb_topic:=/zed2/left/image_rect_color depth_topic:=/zed2/depth/depth_registered camera_info_topic:=/zed2/depth/camera_info odom_topic:=/controllers/diff_drive/odom visual_odometry:=false frame_id:=base_link odom_frame_id:=odom approx_sync:=false rgbd_sync:=true

To start move_base:

roslaunch metu_navigation move_base.launch

In rviz:

roslaunch metu_gazebo rviz.launch

If keyboard plugin is not installed:

sudo apt-get install ros-melodic-teleop-twist-keyboard

To move rover with keyboard:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

To check the process from rqt:

rosrun rqt_tf_tree rqt_tf_tree

Version