(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Launching Move_Base with Volta

Description: Enable the volta to run psychically in real life

Keywords: Volta

Tutorial Level: BEGINNER

The following tutorial illustrates how to use the move_base function with Volta. Please read through the Volta Operating Guidelines here, before commencing with this tutorial.

Move_base is a function that enables Volta to run psychically in real life. This tutorial is classified into 3 different segments: Operating Volta without sensors, Operating Volta with sensors (Gmapping) and Operating Volta with sensors (Autonomous).

Operating Volta without Sensors

This segment covers the on how to operate Volta without any sensors capability. Volta can be controlled either using a joystick or a keyboard.

Instructions:

  • Launch the move_base node by running:
    $ roslaunch volta_base volta_bringup.launch 
  • This will launch the move_base, teleoperator, localization and tf nodes
  • This robot will be controlled by the joystick
  • To control the robot using a keyboard, launch the move_base node by running:
    $ roslaunch volta_base volta_bringup.launch keyboard:=true

Operating Volta with Sensors (Gmapping)

This segment covers the on how to operate Volta and map out an empty environment. For further information regarding on how to map an environment, refer to the tutorial on Mapping an environment with Volta.

Instructions:

  • Ensure that the move_base node is up, for more information refer to the section before.
  • Launch the sensors node by running:
    $ roslaunch volta_base volta_sensors.launch
  • To launch a specific sensor etc; camera or imu or lidar, by running
    $ roslaunch volta_base volta_sensors.launch <SENSOR_NAME>:=true
  • For example, to activate the camera sensor, launch the sensor node by running:
    $ roslaunch volta_base volta_sensors.launch camera:=true
  • To perform the gmapping function, launch the navigation package by running:
    $ roslaunch volta_navigation navigation.launch gmapping:=true
  • You can visualize the robot by running the following:
    $ rosrun rviz rviz
  • Next, open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

  • Similar to the Mapping an environment with Volta tutorial, the static grey map will increase as the robot moves
  • Once the mapping of the entire environment is completed, the map can be saved by running:
    $ roslaunch map_server map_saver –f <filename>

Operating Volta with Sensors (Autonomous)

This segment covers the on how to operate Volta and utilize its autonomous capability on a mapped environment. For further information regarding on how to run AMCL with Volta and how to map an empty environment, refer to Running AMCL with Volta and Mapping an environment with Volta respectively.

Instructions:

  • Ensure that the move_base node is up, for more information refer to Operating Volta without Sensors above.
  • Once the new environment has been mapped, move the map file to the “maps” folder located under volta_navigation package
  • In the navigation.launch file, update the name of the map file to the name of the newly saved map
  • Launch the sensors node by running:
    $ roslaunch volta_base volta_sensors.launch
  • To launch a specific sensor etc; camera or imu or lidar, by running
    $ roslaunch volta_base volta_sensors.launch <SENSOR_NAME>:=true
    • For example, to activate the camera sensor, launch the sensor node by running:
      $ roslaunch volta_base volta_sensors.launch camera:=true
  • To perform the autonomous function, launch the navigation package by running:
    $ roslaunch volta_navigation navigation.launch
  • You can visualize the robot by running the following:
    $ rosrun rviz rviz 
  • Next, open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

  • Similar to the Running AMCL with Volta tutorial
    • Set up the 2D pose Estimate
    • Use 2D Nav Goals to select a navigation goal in the visualizer

Wiki: Robots/Volta/Tutorials/Launching Move_Base with Volta (last edited 2020-06-26 10:41:38 by Botsync)