shinyh99 / robot-wego

wego robot

wego

Cartographer

• made by Google
• https://google-cartographer-ros.readthedocs.io/en/latest/

Anckerman steering

Tips

rosbag

rosbag record --all "<name of bag file>" rosbag play <name of bag file>

Scout

How to run robot

scout boot

rosrun scout_bringup bringup_can2usb.bash

scout bring up

roslaunch team_one scout.launch

lidar

roslaunch team_one lidar.launch

Mapping

Cartographer

roslaunch team_one cartographer.launch

Save map

rosrun map_server map_server <map_path>

roslaunch scout_mini_2dnav move_base_only.launch

Localization

AMCL

roslaunch scout_mini_2dnav amcl.launch

rosservice call /global_localization

Simulator

TF, odom, robot state publisher

roslaunch scout_sim bringup_simulator_robot.launch

scan max range: 12.0

scan measured max range: 13.0

'21. 5. 18.(Tue)

1. Waypoint setting (Programming)

   • [younghwan] Destination setting
   • [haneul] Path status check
   • [hyungmin] Turn(scout_status) : odom, cmd_vel
   • [haneul] Path setting(right or wrong check)

2. Laser Filter field testing