TS Double Robot Navigation

TS Double Robot Navigation is a ROS package developed to power Double 2 Robot by Double Robotics to avoid obstacles and in further perspective to navigate autonomously.

ROS target version

The target version of ROS is Melodic Morenia though one may feel free to adjust the package to any other version of ROS.

Prerequisites

• Ubuntu Bionic is installed. The distribution can be found here.
• ROS Melodic Morenia is installed. The instructions on how to do that can be found here.
• You are familiar with the concepts of ROS such as packages, nodes, topics, services. If you are not it is recommended to address the course ROS for Beginners: Basics, Motion, and OpenCV by Prof. Anis Koubaa.
• The catkin workspace is created. If it is not please follow the instructions here.
• Don't forget to add the catkin workspace setup.sh file to your bashrc file

$ echo 'source ~/catkin_ws/devel/setup.sh' >> ~/.bashrc
$ echo 'echo $ROS_PACKAGE_PATH' >> ~/.bashrc
$ source ~/.bashrc

• Git version control system is installed

Getting started

$ apt-get install ros-melodic-turtlebot3-*
$ echo 'export TURTLEBOT3_MODEL=waffle' >> ~/.bashrc
$ source ~/.bashrc
$ cd ~/catkin_ws/src
$ git clone https://github.com/LebedkoDmitry/ts-doublerobot-navigation.git
$ cd ..
$ catkin_make
$ apt-get install ros-melodic-slam-gmapping
$ apt-get install ros-melodic-dwa-local-planner
$ apt-get install ros-melodic-rosbridge-server
$ roslaunch ts_doublerobot_navigation ts_doublerobot_navigation.launch

How to run urdf-file

export LC_NUMERIC="en_US.UTF-8"
roslaunch urdf_tutorial display.launch model:=/path/to/file/double_robotics.urdf

How to set a goal to move to

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 5.0, y: 2.0, z: 0.0}, orientation: {w: 1.0}}}' --once -v

How to deploy

At the moment we do not provide any Docker public images and do not host the package anywhere in public.