Ecosyste.ms: Awesome

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

Awesome Lists | Featured Topics | Projects

https://github.com/toshikinakamura0412/amr_navigation_ros

A 2D navigation metapackage for AMR (Autonomous Mobile Robot)
https://github.com/toshikinakamura0412/amr_navigation_ros

astar autonomous-navigation control cpp docker docker-compose dwa local-mapping localization mcl mobile-robot-navigation navigation path-planning raycast robotics ros ros-noetic simulation

Last synced: about 2 months ago
JSON representation

A 2D navigation metapackage for AMR (Autonomous Mobile Robot)

Host: GitHub
URL: https://github.com/toshikinakamura0412/amr_navigation_ros
Owner: ToshikiNakamura0412
License: mit
Created: 2024-05-03T09:28:12.000Z (8 months ago)
Default Branch: master
Last Pushed: 2024-06-29T13:46:21.000Z (6 months ago)
Last Synced: 2024-06-29T14:52:54.170Z (6 months ago)
Topics: astar, autonomous-navigation, control, cpp, docker, docker-compose, dwa, local-mapping, localization, mcl, mobile-robot-navigation, navigation, path-planning, raycast, robotics, ros, ros-noetic, simulation
Language: Dockerfile
Homepage:
Size: 8.35 MB
Stars: 1
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # amr_navigation_ros

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

A 2D navigation metapackage for AMR (Autonomous Mobile Robot)

Docker Supported (Demo only)

This package is also used in [roomba_navigation_ros](https://github.com/ToshikiNakamura0412/roomba_navigation_ros.git)



  



## Environment

- Ubuntu 20.04

- ROS Noetic

- (Docker)

## Requirement

- python3-vcstool

## System



  



## packages

| Package | Build Status | Language |

| ------ | ------ | ------ |

| [amr_navigation_utils_ros](https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros/workflows/build/badge.svg) | C++ |

| [a_star_ros](https://github.com/ToshikiNakamura0412/a_star_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/a_star_ros/workflows/build/badge.svg) | C++ |

| [base_controller_ros](https://github.com/ToshikiNakamura0412/base_controller_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/base_controller_ros/workflows/build/badge.svg) | C++ |

| [dwa_planner](https://github.com/amslabtech/dwa_planner.git) | ![Build Status](https://github.com/amslabtech/dwa_planner/workflows/CI/badge.svg) | C++ |

| [emcl_ros](https://github.com/ToshikiNakamura0412/emcl_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/emcl_ros/workflows/build/badge.svg) | C++ |

| [gridmap_to_pointcloud_ros](https://github.com/ToshikiNakamura0412/gridmap_to_pointcloud_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/gridmap_to_pointcloud_ros/workflows/build/badge.svg) | C++ |

| [gyrodometry_ros](https://github.com/ToshikiNakamura0412/gyrodometry_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/gyrodometry_ros/workflows/build/badge.svg) | C++ |

| [icp_matching_ros](https://github.com/ToshikiNakamura0412/icp_matching_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/icp_matching_ros/workflows/build/badge.svg) | C++ |

| [likelihood_field_gridmap_ros](https://github.com/ToshikiNakamura0412/likelihood_field_gridmap_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/likelihood_field_gridmap_ros/workflows/build/badge.svg) | C++ |

| [local_goal_creator_ros](https://github.com/ToshikiNakamura0412/local_goal_creator_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/local_goal_creator_ros/workflows/build/badge.svg) | C++ |

| [pointcloud_storer_ros](https://github.com/ToshikiNakamura0412/pointcloud_storer_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/pointcloud_storer_ros/workflows/build/badge.svg) | C++ |

| [raycast_mapping_ros](https://github.com/ToshikiNakamura0412/raycast_mapping_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/raycast_mapping_ros/workflows/build/badge.svg) | C++ |

| [recovery_behavior_ros](https://github.com/ToshikiNakamura0412/recovery_behavior_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/recovery_behavior_ros/workflows/build/badge.svg) | C++ |

| [scan_to_pcl_ros](https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git) | ![Build Status](https://github.com/ToshikiNakamura0412/scan_to_pcl_ros/workflows/build/badge.svg) | C++ |

| [waypoint_editor_ros](https://github.com/ToshikiNakamura0412/waypoint_editor_ros.git) |  | Python |

| [waypoint_manager_ros](https://github.com/ToshikiNakamura0412/waypoint_manager_ros.git) |  | Python |

## Use docker (Demo only)

```

git clone https://github.com/ToshikiNakamura0412/amr_navigation_ros.git && cd amr_navigation_ros

# build an image, create a container and start demo (Ctrl-c: stop a container and exit)

docker compose up

# remove a container

docker compose down

```

## Not use docker

### Install and Build

```

# clone repository

cd /path/to/your/catkin_ws/src

git clone https://github.com/ToshikiNakamura0412/amr_navigation_ros.git

cd amr_navigation_ros

vcs import navigation < .rosinstall

# build

cd /path/to/your/catkin_ws

rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies

catkin build -DCMAKE_BUILD_TYPE=Release                 # Release build is recommended

```

### Running the demo

#### Using simulator

```

# clone repository

cd /path/to/your/catkin_ws/src

git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build

cd /path/to/your/catkin_ws

rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies

catkin build -DCMAKE_BUILD_TYPE=Release                 # Release build is recommended

# run demo

export TURTLEBOT3_MODEL=burger

roslaunch amr_navigation_ros demo.launch

```