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Start all components for the navigation
Description: This Tutorial should show you which components you need to start to drive your robot with the asr_navigation (with ftc_local_planner, asr_move_base, asr_navcore, asr_navfn).Tutorial Level: BEGINNER
Contents
Setup
Before you start look at the navigation tutorials (http://wiki.ros.org/navigation/Tutorials) to setup your robot and all other navigation components.
You need the packages:
asr_move_base
asr_nav_core
asr_navfn
asr_ftc_local_planner
asr_mild_kinematic_chain
asr_gazebo_models
clone them to your catkin_workspace source folder and compile.
Tutorial
1. Roscore
Start a roscore:
roscore
2. Start the navigation:
For simulation: roslaunch asr_mild_navigation simulation_manual_rearranged.launch
For real: roslaunch asr_mild_navigation navigation.launch
Wait until FTCPlanner: Init is shown on the console.
3. Start rviz
rviz
and load in rviz the rviz config:
asr_mild_navigation/rsc/rviz_configuration/nav_mild_3D.rviz
4. Start gazebo (Only for simulation)
roslaunch asr_mild_navigation gazebo_mild_manual_rearranged.launch
Now you should see in rviz a map and the mild robot. You can drive them arround with "2D Nav Goal".
Common mistakes
If gazebo does't start right after you have terminated it call: killall gzserver
