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ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ros_gazebo_navigation repository

cartographer_ros cartographer_ros_msgs cartographer_rviz myrobot_description amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid navigation_2d range_sensor_layer robot_pose_ekf teb_local_planner teleop_robot

ROS Distro
github

Repository Summary

Description 使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。
Checkout URI https://github.com/feilonghonghong/ros_gazebo_navigation.git
VCS Type git
VCS Version main
Last Updated 2023-04-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer_ros 1.0.0
cartographer_ros_msgs 1.0.0
cartographer_rviz 1.0.0
myrobot_description 0.0.0
amcl 1.16.4
base_local_planner 1.16.4
carrot_planner 1.16.4
clear_costmap_recovery 1.16.4
costmap_2d 1.16.4
dwa_local_planner 1.16.4
fake_localization 1.16.4
global_planner 1.16.4
map_server 1.16.4
move_base 1.16.4
move_slow_and_clear 1.16.4
nav_core 1.16.4
navfn 1.16.4
navigation 1.16.4
rotate_recovery 1.16.4
voxel_grid 1.16.4
navigation_2d 0.0.0
range_sensor_layer 0.5.0
robot_pose_ekf 1.14.5
teb_local_planner 0.8.4
teleop_robot 0.0.0

README

ros_gazebo_navigation

使用Gazebo仿真和ros的navigation栈实现了二轮差速小车的建图导航和避障，并添加了cartographer纯定位的使用和基于图像匹配的重定位功能。

各个功能包说明：

cartogrpaher_ros: cartographer算法的ros包，详情可以搜索cartographer算法的安装运行

myrobot_description: 其中的word文件夹存放了仿真环境，urdf文件夹中存放二轮差速的小车模型

navigation_2d： 存放导航功能的launch文件以及参数配置文件，以及自己添加的节点

navigation-melodic： ROS官方导航栈

range_sensor_layer： 代价地图中用于处理红外超声波等传感器的插件

robot_pose_ekf： 扩展卡尔曼滤波包

teb_local_planner-melodic-devel： teb局部规划器

teleop_robot： 键盘控制

使用：

1.创建工程

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
然后将该项目中所有的包放入src中

2.编译工程

回到catkin_ws目录
$ catkin_make
如果提示缺少什么包，就安装什么包

3.运行

（1）打开一个终端，运行仿真环境
首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch myrobot_description gazebo_robot.launch 

（2）另外启动一个终端，启动导航
同样首先进入catkin_ws目录
$ source devel/setup.bash 
$ roslaunch navigation_2d nav_car.launch

CONTRIBUTING