- fath_pivot_mount_description:
$ sudo apt-get install ros-noetic-fath-pivot-mount-description - flir_camera_description:
$ sudo apt-get install ros-noetic-flir-camera-description - velodyne_description:
$ sudo apt-get install ros-noetic-velodyne-description - realsense2_description:
$ sudo apt install ros-noetic-realsense2-description - LMS1xx:
$ sudo apt-get install ros-noetic-lms1xx - robot_localization:
$ sudo apt-get install ros-noetic-robot-localization - interactive_marker_twist_server:
$ sudo apt-get install ros-noetic-interactive-marker-twist-server - twist_mux:
$ sudo apt-get install ros-noetic-twist-mux - teleop_twist_keyboard:
$ sudo apt-get install ros-noetic-teleop-twist-keyboard - teleop_twist_joy:
$ sudo apt-get install ros-noetic-teleop-twist-joy - rviz_imu_plugin:
$ sudo apt-get install ros-noetic-rviz-imu-plugin - gmapping:
$ sudo apt-get install ros-noetic-gmapping
- Create a Catkin workspace (if not already present)
$ mkdir -p catkin_ws/src- Change directory to the source space (
src) of your Catkin workspace
$ cd catkin_ws/src- Clone this repository:
$ git clone https://github.com/Tinker-Twins/Husky.git- Change directory back to the Catkin workspace:
$ cd ..- Build the packages:
$ catkin_make-
Keyboard Teleoperation:
$ roslaunch husky_gazebo husky_playpen.launch $ roslaunch husky_control teleop_keyboard.launch
-
Map-Less Navigation:
$ roslaunch husky_gazebo husky_playpen.launch $ roslaunch husky_viz view_robot.launch $ roslaunch husky_navigation map_less_navigation.launch
-
Simultaneous Localization And Mapping (SLAM):
$ roslaunch husky_gazebo husky_playpen.launch $ roslaunch husky_viz view_robot.launch $ roslaunch husky_navigation gmapping.launch $ roslaunch husky_control teleop_keyboard.launch
To save generated map to current working directory, run:
$ rosrun map_server map_saver -f <filename>
-
Adaptive Monte Carlo Localization (AMCL):
$ roslaunch husky_gazebo husky_playpen.launch $ roslaunch husky_viz view_robot.launch $ roslaunch husky_navigation amcl.launch $ roslaunch husky_control teleop_keyboard.launch
-
Map-Based Navigation:
$ roslaunch husky_gazebo husky_playpen.launch $ roslaunch husky_viz view_robot.launch $ roslaunch husky_navigation map_based_navigation.launch
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