Only released in EOL distros:
Package Summary
This package provides packages related to navigation of i-Cart mini.
- Maintainer status: developed
- Maintainer: Daiki Maekawa <d.maekawa AT rapyuta-robotics DOT com>
- Author: Daiki Maekawa
- License: BSD
- Source: git https://github.com/open-rdc/icart_mini.git (branch: indigo-devel)
Contents
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EXPERIMENTAL: This status indicates that this software is experimental code at best. There are known issues and missing functionality. The APIs are completely unstable and likely to change. Use in production systems is not recommended. All code starts at this level. For more information see the ROS-Industrial software status page. |
Install
Install ROS software (recommended ROS indigo version with Ubuntu 14.04LTS) at http://www.ros.org/wiki/ROS/Installation, please select Ubuntu platform.
$ cd CATKIN_WORKSPACE/src $ git clone https://github.com/open-rdc/icart_mini $ wstool init $ wstool merge icart_mini/icart_mini.install $ wstool up $ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y $ cd .. $ catkin_make
Usage
Bring up the real/simulated robot
The following will show the commands needed to bring up either real or simulated robots.
- Bring up the simulated robot
$ roslaunch icart_mini_gazebo icart_mini.launch
- Bring up the real robot
$ ./icart-mini.sh $ roslaunch icart_mini_driver icart_mini_drive.launch
Teleoperation with a joystick
$ roslaunch icart_mini_driver teleop_joy.launch
Build map
$ roslaunch icart_mini_navigation build_map_teleop.launch
Record the waypoints
- Using the publish point on RViz
$ roslaunch icart_mini_navigation record_waypoints_viz.launch
- Using the Joystick
$ roslaunch icart_mini_navigation record_waypoints_joy.launch
Navigation
- Waypoint Navigation
$ roslaunch icart_mini_navigation play_waypoints_nav.launch
- Path Planning and Navigation in static map
$ roslaunch icart_mini_navigation nav_static_map.launch
Node: Don't forget to turn off the teleoperation, as it might interfere with the robot's commands.
