3DMobileRobotNavigation

Turtlebot gazebo simulation

• Firstly you have clone this repository to your source directory in your workspace and you should download and install turtlebot packages

$ sudo apt-get install ros-kinetic-turtlebot-gazebo 
$ sudo apt-get install ros-kinetic-turtlebot-navigation 
$ sudo apt-get install ros-kinetic-octomap-server
$ sudo apt-get install ros-kinetic-map-server

• later in your workspace you have:
• To start Gazebo simulation

$ roslaunch turtlebot_gazebo turtlebot_world.launch

• Start octomap server

$ roslaunch octomap_turtlebot.launch

In this file you can set min and max value of z axis

• Start control robot

$ roslaunch turtlebot_teleop keyboard_teleop.launch

• To get preview in Rviz run

$ roslaunch turtlebot_rviz_launchers view_robot.launch

If you want to see created map please add in Rviz MarkerArray in topic occupied_cells_vis_array

• Save projected version of map

$ rosrun map_saver map_saver -f map.yaml map:=projected_map

Sometimes this command may not works so you have to copy map_saver file to devel/lib directory in your workspace folder

• To run planner with projected map you have to run

$ roslaunch turtlebot_gazebo amcl_demo.launch map_file:=path-to-file/map.yaml

If map is not loading correcty check the map.yaml file. 1) Correct the path to pgm file 2) set z origin from NaN to 0.0000

Run on real robot

• labbot - Clone this repository!
• Install required packages

$ sudo apt-get install ros-kinetic-octomap-server
$ sudo apt-get install ros-kinetic-map-server

• Copy or launch files and xml file to labbot source directory

$ roslaunch path-to-file/map_service_bodzi_seba.launch

• If you want to have preview of map

$ rviz rviz

If you want to see created map please add in Rviz MarkerArray in topic occupied_cells_vis_array

• Let's create map by control robot by kinect controller
• Save map by command

$ rosrun map_saver map_saver -f map.yaml map:=projected_map

Sometimes this command may not works so you have to copy map_saver file to devel/lib directory in your workspace folder

• Load map to planner

$ roslaunch path-to-file/move_base_bodzi.launch map_file:= path-to-map/map.yaml

If map is not loading correcty check the map.yaml file. 1) Correct the path to pgm file 2) set z origin from NaN to 0.0000