Smart_Navigator

An Opensource Platform for Autonomous Navigation systems.

Prerequisites

Install the ROS Kinetic framework for Ubuntu 16.04. Follow this

Setup

cd ~/ros_workspace/src
git clone https://github.com/shiva-raj-km/Smart_Navigator.git

Cut and copy two folders inside Smart_navigator into src folder

cd ..
# Run 
catkin build
# If no errors after running catkin build then the packages are installed and build properly
# Run 
source devel/setup.bash
# To source the terminal

Usage

Mapping

cd ~/ros_workspace
source devel/setup.bash
# Make four terminals source
# Terminal -1
roslaunch navigator_bringup robot_standalone.launch
# Terminal -2
roslaunch navigator_bringup gmapping.launch
# Terminal -3
roslaunch navigator_bringup keyboard_teleop.launch
# Terminal -4
roslaunch navigator_bringup view_navigation.launch
# Using teleoperation run the robot to explore the environment, and map building can be vizuliazed in Rviz. After bulding the map save it using map server.
rosrun map_server map_saver -f ~/<path>

Autonomous Navigation

# Terminal -1
roslaunch navigator_bringup robot_standalone.launch
# Terminal -2
roslaunch navigator_bringup amcl_demo.launch map_file:=~/<path of saved map>
# Terminal -3
roslaunch navigator_bringup move_base.launch
# Terminal -4
roslaunch navigator_bringup view_navigation.launch