README.md

Dependencies

    ros-$ROS_DISTRO-gmapping 
    ros-$ROS_DISTRO-map-server 
    ros-$ROS_DISTRO-navigation 

Usage

• The robot needs to be set up first, either in gazebo or in real life.

  roslaunch pollo_bringup bringup.launch # for real robot
  # or 
  roslaunch pollo_gazebo spawn.launch # for simulation only
  # or
  roslaunch pollo_bringup bringup.launch sim:=true # for both real and simulation

• localization.launch

  • Localize the robot with amcl.

• navigation.launch

  • Launch the navigation stack.
  • Clear costmaps

  rosservice call /move_base/clear_costmaps "{}"

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