https://github.com/anotherrusty/osm_navigation
https://github.com/anotherrusty/osm_navigation
Last synced: 10 months ago
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- Host: GitHub
- URL: https://github.com/anotherrusty/osm_navigation
- Owner: AnotherRusty
- Created: 2019-04-08T16:35:57.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2019-04-28T12:37:20.000Z (over 6 years ago)
- Last Synced: 2024-09-15T19:14:38.162Z (over 1 year ago)
- Language: CMake
- Size: 31.3 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# osm_navigation
### 更新：
2019-04-27
* 修改params/base_local_planner_params.yaml中occdist_scale (0.4 -> 0.02). (参考文献：http://kaiyuzheng.me/documents/navguide.pdf ）
* 增大fake_laser_scan节点中障碍物的大小(span 5->15).
2019-04-15
* launch文件取消了osm_helper节点, 增加fake_localization节点，发布odom->map的tf关系
### 使用方法：
STEP 1: 运行 rbx1 模拟机器人
```bash
$ roslaunch rbx1_bringup fake_turtlebot.launch
```
STEP 2: 运行模拟雷达
```bash
$ roslaunch fake_laser_scan fake_laser_scan.launch
```
STEP 3: 运行导航
```bash
$ roslaunch osm_nav nav.launch
```
---
## TIPS
把source添加到.bashrc 就不需要每次都手动打了。
```bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
```