Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

Awesome Lists | Featured Topics | Projects

https://github.com/gbr1/erwhi-hedgehog-ros

ERWHI Hedgehog ROS files
https://github.com/gbr1/erwhi-hedgehog-ros

aaeon erwhi kinetic robot ros rtab slam ubuntu up

Last synced: about 2 months ago
JSON representation

ERWHI Hedgehog ROS files

Host: GitHub
URL: https://github.com/gbr1/erwhi-hedgehog-ros
Owner: gbr1
License: mit
Created: 2019-04-01T00:07:30.000Z (almost 6 years ago)
Default Branch: kinetic
Last Pushed: 2021-07-28T15:31:37.000Z (over 3 years ago)
Last Synced: 2023-05-02T00:55:40.304Z (almost 2 years ago)
Topics: aaeon, erwhi, kinetic, robot, ros, rtab, slam, ubuntu, up
Language: CMake
Homepage:
Size: 21.4 MB
Stars: 14
Watchers: 4
Forks: 2
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

# erwhi-hedgehog-ros
ERWHI Hedgehog ROS files

## Setup
Go into your workspace source folder (e.g. catkin_ws/src):

`cd ~/catkin_ws/src`

clone this repository:

`git clone http://github.com/gbr1/erwhi-hedgehog-ros.git`

return in catkin_ws:

`cd ..`

check dependencies:

`rosdep install --from-paths src --ignore-src -r -y`

make:

`catkin_make`

install:

`catkin_make install`

## Launch
Let's start Erwhi:

`roslaunch erwhi_bringup bringup.launch`

To simulate in Gazebo:

`roslaunch erwhi_gazebo erwhi_gazebo.launch`

To run autonomous navigation:

`roslaunch erwhi_navigation explore.launch`

## Demo
Video of robot working: [link to youtube](https://www.youtube.com/watch?v=5Fm99uoWtUY)

Video of "How to Simulate Erwhi in Gazebo": [link to youtube](https://www.youtube.com/watch?v=R5mXczDg0mo)

## Dependencies
* [sengi_ros](https://github.com/gbr1/sengi_ros)
* [bosch_imu_driver](https://github.com/gbr1/bosch_imu_driver)
* [realsense2_camera](https://github.com/intel-ros/realsense)

## Known issues
* _explore_ won't work with DWA, so Erwhi planners are based on TEB
* frontier_exploration configurations need to be fixed.