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interbotix_xslocobot_nav package from interbotix_ros_rovers repo

interbotix_ros_xslocobots_examples interbotix_xslocobot_joy interbotix_xslocobot_landmark_nav interbotix_xslocobot_moveit_interface interbotix_ros_xslocobots interbotix_xslocobot_control interbotix_xslocobot_descriptions interbotix_xslocobot_gazebo interbotix_xslocobot_moveit interbotix_xslocobot_nav interbotix_xslocobot_perception interbotix_xslocobot_ros_control

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Package Summary

Tags	No category tags.
Version	0.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	ROS Packages for Interbotix Rovers
Checkout URI	https://github.com/interbotix/interbotix_ros_rovers.git
VCS Type	git
VCS Version	main
Last Updated	2023-05-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics ros mobile-robots mobile-robotics ros2 interbotix
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The interbotix_xslocobot_nav package

Additional Links

No additional links.

Maintainers

Solomon Wiznitzer

Authors

Solomon Wiznitzer

interbotix_ros_xslocobots/interbotix_xslocobot_nav/README.md

interbotix_xslocobot_nav

Overview

This package configures the ROS Navigation Stack needed to give any X-Series Interbotix LoCoBot platform the ability to perform simultaneous localization and mapping (SLAM), navigation, or just localization. It can be used with just the Intel RealSense D435 camera or with both the camera and the A2M8 RPLidar laser scanner. The localization and mapping part is done using the rtabmap_ros ROS package while the navigation part is accomplished via the move_base ROS package. For best results, this package should be run with the robot in an indoor, uncluttered environment that does not contain too much sunlight and has minimal reflective surfaces.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	interbotix_xslocobot_control
	move_base
	rtabmap_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interbotix_xslocobot_landmark_nav
interbotix_ros_xslocobots

Launch files

launch/xslocobot_nav.launch
- - robot_model [default: ]
  - robot_name [default: locobot]
  - use_lidar [default: false]
  - show_lidar [default: $(arg use_lidar)]
  - external_urdf_loc [default: ]
  - use_rviz [default: false]
  - base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
  - localization [default: false]
  - rtabmap_args [default: ]
  - use_rtabmapviz [default: false]
  - rtabmapviz_args [default: ]
  - database_path [default: ~/.ros/rtabmap.db]
  - camera_tilt_angle [default: 0.2618]
  - launch_driver [default: true]
  - move_base_cmd_vel_topic [default: mobile_base/commands/velocity]
  - move_base_cmd_vel_topic [default: /mobile_base/cmd_vel]
  - odom_topic [default: mobile_base/odom]
  - odom_topic [default: /mobile_base/odom]
  - rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/ProximityBySpace true --RGBD/ProximityPathMaxNeighbors 10 --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth false --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Grid/RangeMax 0 --Reg/Force3DoF true --Reg/Strategy 1 --Mem/STMSize 30 --Icp/VoxelSize 0.05 --Icp/CorrespondenceRatio 0.4 --Icp/MaxCorrespondenceDistance 0.1]
  - rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth true --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Reg/Force3DoF true --Reg/Strategy 0 --Mem/STMSize 30]
launch/xslocobot_nav_sim.launch
- - robot_model [default: ]
  - robot_name [default: locobot]
  - arm_model [default: $(eval 'mobile_' + arg('robot_model').split('_')[1])]
  - use_lidar [default: true]
  - show_gripper_bar [default: true]
  - show_gripper_fingers [default: true]
  - external_urdf_loc [default: ]
  - localization [default: false]
  - rtabmap_args [default: ]
  - use_rtabmapviz [default: false]
  - rtabmapviz_args [default: ]
  - database_path [default: ~/.ros/rtabmap.db]
  - camera_tilt_angle [default: 0.2618]
  - use_rviz [default: true]
  - base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
  - rviz_frame [default: map]
  - world_name [default: $(find interbotix_xslocobot_gazebo)/worlds/xslocobot_gazebo.world]
  - gui [default: true]
  - debug [default: false]
  - paused [default: true]
  - recording [default: false]
  - use_sim_time [default: true]
  - use_position_controllers [default: false]
  - use_trajectory_controllers [default: false]
  - dof [default: 5]
  - move_base_cmd_vel_topic [default: mobile_base/commands/velocity]
  - move_base_cmd_vel_topic [default: cmd_vel]
  - odom_topic [default: mobile_base/odom]
  - odom_topic [default: odom]
  - rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/ProximityBySpace true --RGBD/ProximityPathMaxNeighbors 10 --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth false --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Grid/RangeMax 0 --Reg/Force3DoF true --Reg/Strategy 1 --Mem/STMSize 30 --Icp/VoxelSize 0.05 --Icp/CorrespondenceRatio 0.4 --Icp/MaxCorrespondenceDistance 0.1]
  - rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth true --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Reg/Force3DoF true --Reg/Strategy 0 --Mem/STMSize 30]
  - robot_model [default: $(arg robot_model)]
  - robot_name [default: $(arg robot_name)]
  - arm_model [default: $(arg arm_model)]
  - show_lidar [default: $(arg use_lidar)]
  - show_gripper_bar [default: $(arg show_gripper_bar)]
  - show_gripper_fingers [default: $(arg show_gripper_fingers)]
  - external_urdf_loc [default: $(arg external_urdf_loc)]
  - use_rviz [default: $(arg use_rviz)]
  - rviz_frame [default: $(arg rviz_frame)]
  - world_name [default: $(arg world_name)]
  - gui [default: $(arg gui)]
  - debug [default: $(arg debug)]
  - paused [default: $(arg paused)]
  - recording [default: $(arg recording)]
  - use_sim_time [default: $(arg use_sim_time)]
  - use_position_controllers [default: $(arg use_position_controllers)]
  - use_trajectory_controllers [default: $(arg use_trajectory_controllers)]
  - dof [default: $(arg dof)]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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