This git contain the few launch files for the Pioneer mapping and navigation experiment.
To launch the main experiment, be sure all the required packages are installed. First install the package RosAria to communicate with the Pioneer base :
cd ~/catkin_ws/src git clone https://github.com/amor-ros-pkg/rosaria.git source ~/catkin_ws/devel/setup.bash rosdep install rosaria
Refer to the official RosAria documentation for more information if needed.
The control of the mobile robot in the planar environment is built on a set of libraries and ROS nodes called nav2d. The main features are a purely reactive obstacle avoidance, a simple path planner, and a graph based SLAM (Simultaneous Localization and Mapping) node that allows multiple robots to cooperatively build a map. By using an exploration plugin for the navigation module, one or more robots can autonomously explore there working space and create a shared map for navigation on all robots. Currently, only nav2d_operator local planner (obstacle avoidance), nav2d_navigator global planner (using map and robot pose) and nav2d_tutorials config files are used for the experiment.
To install the complete stack from debian packages:
apt-get install ros-<release-name>-nav2d
If you only need the packages for the provided experiment, you can install install the packages separately:
ros-<release-name>-nav2d_operator ros-<release-name>-nav2d_navigator ros-<release-name>-nav2d_tutorials
To interface with the laser range-finder UTM-30LX, install the the urg_node :
apt-get install ros-<release-name>-urg-node
To add a teleoperation through the Logitech Gamepad, add the joy package :
apt-get install ros-<release-name>-joy
The repo also add a custom node JoyToVel to transform sensor_msgs/Joy messages (/joy topic) into geometry_msgs/Twist (/cmd_vel topic).