Clone this repo recursively:
git clone https://github.com/oKermorgant/anf_nav.git --recursive
If you forgot, activate the submodule with:
git submodule update --init --recursive
simple_launch
slider_publisher
navigation2
map_simulator
(cloned with this repo)opencv
turtlebot3_description
sudo apt install ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-simple-launch \
ros-${ROS_DISTRO}-slider-publisher ros-${ROS_DISTRO}-turtlebot3-description \
libopencv-dev
colcon build --symlink-install && source install/setup.bash
ros2 launch anf_nav sim_launch.py
ros2 launch anf_nav spawn_launch.py
Arguments:
robot
(bb8 or turtlebot): which robot to spawngt
(bool): whether we use ground truth localization as opposed to AMCL
ros2 launch anf_nav nav_launch.py
Arguments:
robot
(bb8 or turtlebot): which robot to spawnnav
(bool): whether to use the nav stack or manual control
ros2 launch anf_nav robot_launch.py
Arguments:
robot
(bb8 or turtlebot): which robot to spawngt
(bool): whether we use ground truth localization as opposed to AMCLnav
(bool): whether to use the nav stack or manual control