9/13/2023 0 Comments Stack on![]() ![]() The map enables us to set an initial pose for our robot and to give it a goal destination. You do not need to have a map to run the ROS Navigation Stack, but I will assume we have a static map of our environment. Once you have completed the tutorial above, you can move to the next step to add the appropriate code to your main launch file.Īdd the “Wheel Encoder Tick Publisher and Base Controller Using Arduino” block of this code to your launch file. How to Control a Robot’s Velocity Remotely Using ROS.To set this up, you will need to have completed the following tutorial: velocity command) topic that takes velocities and converts them into motor commands. The ROS Navigation Stack requires a node that subscribes to the “cmd_vel” (i.e. Once you have completed the three tutorials above, you can move to the next step to add the appropriate code to your main launch file.Īdd the “Wheel Odometry Publisher” block of this code to your launch file.Īdd the “IMU Data Publisher Using the BNO055 IMU Sensor” block of this code to your launch file.Īdd the “Extended Kalman Filter from robot_pose_ekf Node” block of this code to your launch file. The robot_pose_ekf package, which uses an Extended Kalman Filter to fuse the data provided by the wheel encoders and the BNO055 IMU sensor.To set this up, you will need to have completed the following three tutorials: The navigation stack requires that odometry information be published using tf and the nav_msgs/Odometry message. The full tutorial for setting up your LIDAR from scratch can be found on this post. A full explanation of how to set up your LIDAR so the launch file can read it properly can be found on this post. LIDAR InformationĪdd the “Lidar Data Publisher Using RPLIDAR…” block of this code to your launch file. It assumes that the sensor publishes either sensor_msgs/LaserScan or sensor_msgs/PointCloud messages over ROS. The ROS Navigation Stack uses sensor information to help the robot avoid obstacles in the environment. ![]() A full explanation of how to do that can be found on this post. You will need to modify it for your own robot. gedit jetson_nano_bot.launchĪdd the “Transformation Configuration…” block of this code (you will need to download the launch file in order to copy the code) to your launch file. Open a terminal window and type: roscd navstack_pub cd launch The ROS Navigation Stack requires that we publish information about the relationships between coordinate frames of the robot using the tf ROS package. roscd navstack_pub mkdir launch cd launchĬreate your launch file. Open a new terminal window, and move to your navstack_pub package. Now we’re going to put together our launch file. cd ~/catkin_ws/ catkin_make -only-pkg-with-deps navstack_pub Remove the hashtag on line 5 to make sure that C++11 support is enabled. catkin_create_pkg navstack_pub rospy roscpp std_msgs tf tf2_ros geometry_msgs sensor_msgs nav_msgs move_base Open a new terminal window, and type: cd ~/catkin_ws/src/jetson_nano_botĬreate a package named navstack_pub. Open a terminal window, and type: cd ~/catkin_ws/src/ mkdir jetson_nano_bot If you don’t already have a folder named jetson_nano_bot, create that now. This package will contain our work for the ROS Navigation stack. Let’s create a package inside the jetson_nano_bot folder. opt/ros/melodic/share/amcl Create a Package To see if it installed correctly, type: rospack find amcl If you are using ROS Noetic, you will type: sudo apt-get install ros-noetic-navigation sudo apt-get install ros-melodic-navigation Open a new terminal window, and type the following command to install the ROS Navigation Stack. Let’s start by installing the ROS Navigation Stack.
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