raspimouse_navigation_2

Package for implement navigation with IMU, expansion resettings, and original recovery behaviors on Raspberry Pi Mouse.

Demo

• Raspberry Pi Mouse solves kidnapped robot problem using ROS navigation stack - YouTube

Requirements

This package requires the following to run:

• Robot
  • Raspberry Pi Mouse
• Laser Rangefinder
  • URG-04LX-UG01
• IMU
  • RT-USB-9AXIS-00
• Ubuntu
  • Ubuntu 16.04 (Ubuntu 16.04 Server recomended)
• ROS
  • Kinetic Kame
• ROS Package
  • Customized ROS Navigation Stack - zaki0929/navigation
  • IMU Driver - AtsushiSaito/lab_usb_9axisimu_driver
  • urg_node - urg_node - ROS WiKi

Installation

First of all, install the latest stable version of ROS. Please refer to ROS WiKi for installation.

Next, download the dependent ROS package and this repository.

sudo apt install ros-kinetic-urg-node
cd ~/catkin_ws/src
git clone https://github.com/zaki0929/navigation.git
git clone https://github.com/AtsushiSaito/lab_usb_9axisimu_driver.git
git clone https://github.com/zaki0929/raspimouse_navigation_2.git

Finally, build the downloaded ones.

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

Usage

In order to use this package, you need to launch the launch file on Raspberry Pi Mouse side and PC side as follows.

The map data you want to load is placed in map.

Raspberry Pi Mouse side

roslaunch raspimouse_navigation_2 remote_robot.launch

PC side

roslaunch raspimouse_navigation_2 remote_desktop.launch

License

This repository is licensed under the MIT license, see LICENSE.