- Install packages: https://github.com/meyerj/sbpl_lattice_planner/tree/indigo-devel https://github.com/trainman419/dagny_nav.git
Change footprint_layer to costmap_2d::VoxelLayer:
- /dagny_nav/dagny_nav_launch/global_costmap.yaml
- /dagny_nav/dagny_nav_launch/local_costmap.yaml to voxel layer
-
roslaunch golfcart_gazebo golfcart.launch
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rosrun golfcart_gazebo odom_transformation_node
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rosrun golfcart_gazebo cmd_vel_to_ackermann_drive.py
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roslaunch dagny_nav_launch dagny_nav_gmapping.launch