ROBOTICS EVALUATION TOOLKITS
A simulation of basic robot localization (SLAM) and navigation in warehouse environment
Author: Wang Han, Nanyang Technological University, Singapore
1. Evaluation
1.1. Simulation Description
This package provides a simulation environment of warehouse. A robot is simulated at the center of the environment, with 2D laser scanner provided.
1.2. robot tutorial
The localization and navigation unit is also provided for evaluation. This inlcudes basic 2D slam and robot navigation algorithm.
1.3. 3D mapping
The robot model is equipped with 3D Lidar as an alternative and simulation of 3D mapping is available
2. Prerequisites
2.1 Ubuntu and ROS
Ubuntu 64-bit 18.04.
ROS Melodic. ROS Installation
2.2. ROS Package
sudo apt-get install ros-melodic-hector-trajectory-server ros-melodic-slam-gmapping ros-melodic-navigation
3. Build
3.1 Clone repository:
cd ~/catkin_ws/src
git clone https://github.com/wh200720041/warehouse_simulation_toolkit.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
3.2 Launch ROS
roslaunch warehouse_simulation warehouse_simulation.launch
Note that it takes a few minutes to load model upon first launch
3.3 Robot Control
You can use keyboard (arrow keys) to manually control the robot (select cmd window first)
3.4 Autonomous Navigation
You may set target points in RVIZ and the robot will navigate to the location in gazebo.
- click 2d nav goal button on rviz
- click any points you want on the map
4.Acknowledgements
Thanks for the great work from GEAR.