Where Am I?

Contents

There are 3 packages:

• teleop_twist_keyboard is for manual control of robot motion.
• my_robot contains gazebo environemnts for the robot.
• my_navigation contains launch files for executing the map_server, amcl, and move_base nodes.
  

Note that some example snapshots of the robot simulator can be found inside the folder results/.

Usage

Step 1

Open a new terminal, and launch this command to bringup the robot simulator.

$ roslaunch my_robot world.launch

Step 2

Open another new terminal, and launch this command to run the map_server, amcl, and move_base nodes.

$ roslaunch my_navigation amcl.launch

Step 3

Open another new terminal for manual keyboard control if needed.

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Example Snapshots

Step 1

The robot uses the laser data to understand about its current position in the map. Also, its estimated orientation is shown as a green arrow in RVIZ panel.

Step 2

A subgoal (marked as a red arrow in RVIZ panel) which is just around the area under the table was assigned.

Step 3

The robot moves autonomously to the assigned subgoal.

Step 4

The robot stops moving once it reaches the assigned subgoal.