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MOM_Robot( Mecnaum wheel based Omni-directional Mobile Robot ) is a versatile mobile robot platform and related ROS packages are provided.
video:Gmapping and Navigation -- Youku
Ubuntu 16.04 and ROS Kinetic
| Package_name | function |
|---|---|
| robot_bringup | (1)rx and tx of serial port data (2)filter of imu data (3)filter of lidar data |
| robot_calib | calibration of linear velocity and angular velocity |
| robot_msgs | custom robot msg filerobot_msgs/Encoder.h |
| robot_navigation | configuration of amcl and move_base |
| robot_slam | configuration of gmapping |
| robot_startup | bind of serial port with udev rules |
| robot_teleop | process data of keyboard |
| ydlidar | driver of EAI X4 Lidar |
In the following operation, we assume that the path of ROS's workspace is ~/project/catkin_ws.
cd ~
mkdir -p project/catkin_ws/src/
git clone https://github.com/JeffYoung17/MOM_Robot.git ~/project/catkin_ws/src/
cd ~/project/catkin_ws/
catkin_make
roslaunch robot_bringup core.launch
roslaunch robot_bringup teleop_key.launch
roslaunch robot_bringup teleop_key.launch
roslaunch robot_bringup core.launch
roslaunch robot_slam gmapping_demo.launch
rosrun map_server map_saver -f ~/project/catkin_ws/robot_slam/maps/[map_name]
You need to change [map_name]with your own map name.
You need to change the value of parameter map_file with your map_name in the launch file nav_demo.launch, in order to navigate with your map.
roslaunch robot_bringup core.launch
roslaunch robot_navigation nav_demo.launch
In the process of building MOM_Robot, I get help from many open source projects, websites, blog forums and some people. Including but not limited to the followings:
ROS.org
ROSClub/mrobot Project
marooncn/plantbot Project
创客智造
ROS小课堂
PIBOT导航机器人