Kinect distro ROS
git clone https://github.com/ros-perception/slam_gmapping
git clone https://github.com/turtlebot/turtlebot
git clone https://github.com/turtlebot/turtlebot_interactions
git clone https://github.com/turtlebot/turtlebot_simulator
cd ~/catkin_ws/
source devel/setup.bash
rosdep -i install gmapping
rosdep -i install turtlebot_teleop
rosdep -i install turtlebot_rviz_launchers
rosdep -i install turtlebot_gazebo
catkin_make // catkin build
source devel/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
run scripts
The script launches the slam_gmapping package, this package can create a 2-D occupancy grid map from laser and pose data collected by the mobile robot. The teleoperation package is used to drive the robot in the world.
sh scripts/test_slam.sh
Create a map driving the robot throught the world. Before close de gmapping and rviz terminals, save the map,
rosrun map_server map_saver -f ~/gmapping_01
The navigation test uses the ROS Navigation Stack, which is based on the Dijkstra's, a variant of the Uniform Cost Search algorithm, to plan the robot trajectory from start to goal position. The ROS navigation stack permits the robot to avoid any obstacle on its path by re-planning a new trajectory once the robot encounters them.
sh scripts/test_navigation.sh
or
rosrun home_service_robot test_navigation.sh
Send two goals to the Navigation Stack.
The Amcl package is a probabilistic localization system for a robot moving in 2D. It implements the Adaptive Monte Carlo Localization approach, which uses a particle filter to track the pose of a robot against a known map.
rosrun home_service_robot pick_objects.sh
Modeling a virtual object with markers in rviz. In order to visualize the marker you have to manually add it to Rviz.
rosrun home_service_robot add_markers.sh
Finally, the last task is to combine all the above functionality,
rosrun home_service_robot home_service.sh
