This repository contains the ROS packages for the RoFox robot by DoBots. You may choose the branch as per your ROS distribution (The master branch assumes ros1-melodic).
Below you can find instructions on how to bringup the Gazebo simulation, run SLAM algorithms, localization or autonomous navigation.
source <workspace path>/devel/setup.bash
To launch the house world:
roslaunch fox_gazebo fox_house.launch
To start the keyboard teleop:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
To run RViz:
rosrun rviz rviz
#1. Simulation
roslaunch fox_gazebo fox_house.launch
#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
#3. Hector SLAM
roslaunch fox_localization hector_mapping.launch
#4. RViz
rosrun rviz rviz
#1. Simulation
roslaunch fox_gazebo fox_house.launch
#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
#3. GMapping
roslaunch fox_localization gmapping.launch
#4. RViz
rosrun rviz rviz
#1. Simulation
roslaunch fox_gazebo fox_house.launch
#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
#3. Map server
roslaunch fox_localization map.launch
#4. AMCL
roslaunch fox_localization amcl.launch
#5. RViz
rosrun rviz rviz
#1. Simulation
roslaunch fox_gazebo fox_house.launch
#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
#3. GMapping
roslaunch fox_localization gmapping.launch
#4. RViz
rosrun rviz rviz
#5. Move_base
roslaunch fox_navigation move_base.launch
#1. Simulation
roslaunch fox_gazebo fox_house.launch
#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
#3. Map server
roslaunch fox_localization map.launch
#4. AMCL
roslaunch fox_localization amcl.launch
#5. RViz
rosrun rviz rviz
#6. Move_base
roslaunch fox_navigation move_base.launch
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Navigation parameters need to be tuned
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Gazebo simulation: friction values etc need to be tuned.