lsvng / ros_navigation_stack

Generic ROS package used to navigate a mobile robot in dynamic environments

ros_navigation_stack

The ROS Navigation Stack is a library used for navigating mobile robots in dynamic environments. It relies on an odometry source, Lidar data (in either 2D or 3D), and a map to enable autonomous navigation. While it can function without a map, the effectiveness of the global planner is compromised in such cases.

About

This repository demonstrates the usage of a ROS package that employs a TEB Local Planner to construct navigation plans and avoid obstacles encountered along the robot's path. Additionally, a URDF is utilized to represent the robot model accurately, enabling the publication of transformations for peripheral components (such as wheels and sensors) to tf2.

To execute these plans, move_base is used to direct the robot along the trajectory determined by the local planner, with users interfacing through tools like rviz or custom code.

Install Relevant ROS Packages

$ sudo apt update && sudo apt install -y \
    ros-<ros-distribution>-navigation \
    ros-<ros-distribution>-teb-local-planner \
    ros-<ros-distribution>-xacro \
    ros-<ros-distribution>-gazebo-ros \
    ros-<ros-distribution>-joint-state-publisher \
    ros-<ros-distribution>-robot-state-publisher

Usage

1. Build the catkin workspace

   catkin_make
   

2. Launch the program

   roslaunch ros_navigation_stack main.launch