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1. #Tinker and transform gobot robot file how to#
2. #Tinker and transform gobot robot file install#
3. #Tinker and transform gobot robot file drivers#
4. #Tinker and transform gobot robot file free#

#Tinker and transform gobot robot file free#

You should, of course, feel free to replace the text "my_robot" with the name of your actual robot. Fire up your favorite editor, and paste the following snippet into a file called my_robot_configuration.launch. Now that we have a workspace for all of our configuration and launch files, we'll create a roslaunch file that brings up all the hardware and transform publishes that the robot needs. This command will create a package with the necessary dependencies to run the navigation stack on your robot.Ĭreating a Robot Configuration Launch File So, pick a location for your package and run the following command:Ĭatkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep This package will have dependencies on any packages used to fulfill the requirements in the Robot Setup section above as well as on the move_base package which contains the high-level interface to the navigation stack. This first step for this tutorial is to create a package where we'll store all the configuration and launch files for the navigation stack. If any of these requirements are not met on your robot, please see the Robot Setup section above for instructions on completing them. Specifically, this means that the robot must be publishing coordinate frame information using tf, receiving sensor_msgs/LaserScan or sensor_msgs/PointCloud messages from all sensors that are to be used with the navigation stack, and publishing odometry information using both tf and the nav_msgs/Odometry message while also taking in velocity commands to send to the base. It assumes that all the requirements above for robot setup have been satisfied.

#Tinker and transform gobot robot file how to#

This section describes how to setup and configure the navigation stack on a robot. Please see the building a map tutorial for details on creating a map of your environment. The navigation stack does not require a map to operate, but for the purposes of this tutorial, we'll assume you have one.

#Tinker and transform gobot robot file drivers#

Supported platforms for base control and links to their appropriate drivers are listed below: This means there must be a node subscribing to the "cmd_vel" topic that is capable of taking (vx, vy, vtheta) (cmd_, cmd_, cmd_) velocities and converting them into motor commands to send to a mobile base. The navigation stack assumes that it can send velocity commands using a geometry_msgs/Twist message assumed to be in the base coordinate frame of the robot on the "cmd_vel" topic. Supported platforms for odometry and links to their appropriate drivers are listed below: A tutorial on publishing odometry information can be found here: Publishing Odometry Information Over ROS. The navigation stack requires that odometry information be published using tf and the nav_msgs/Odometry message. SCIP2.2-compliant Hokuyo Laser Devices as well as the Hokuyo Model 04LX, 30LX - urg_node Supported sensors and links to their appropriate drivers are listed below: Also, there are a number of sensors that have ROS drivers that already take care of this step. For information on publishing these messages over ROS, please see the Publishing Sensor Streams Over ROS tutorial. The navigation stack uses information from sensors to avoid obstacles in the world, it assumes that these sensors are publishing either sensor_msgs/LaserScan or sensor_msgs/PointCloud messages over ROS. A detailed tutorial on setting up this configuration can be found here: Transform Configuration. The navigation stack requires that the robot be publishing information about the relationships between coordinate frames using tf. Transform Configuration (other transforms)

#Tinker and transform gobot robot file install#

Please consult the ROS documentation for instructions on how to install ROS on your robot. The navigation stack assumes that the robot is using ROS. The pre-requisites of the navigation stack, along with instructions on how to fulfil each requirement, are provided in the sections below. The white components are required components that are already implemented, the gray components are optional components that are already implemented, and the blue components must be created for each robot platform. The diagram above shows an overview of this configuration. The navigation stack assumes that the robot is configured in a particular manner in order to run.