rofox packages

This repository contains the ROS packages for the RoFox robot by DoBots. You may choose the branch as per your ROS distribution (The master branch assumes ros1-melodic).

Below you can find instructions on how to bringup the Gazebo simulation, run SLAM algorithms, localization or autonomous navigation.

Source your workspace

source <workspace path>/devel/setup.bash

Start the simulation with teleop

To launch the house world:

roslaunch fox_gazebo fox_house.launch

To start the keyboard teleop:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

To run RViz:

rosrun rviz rviz

Start HectorSLAM

#1. Simulation
roslaunch fox_gazebo fox_house.launch

#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

#3. Hector SLAM
roslaunch fox_localization hector_mapping.launch

#4. RViz
rosrun rviz rviz

Start GMapping

#1. Simulation
roslaunch fox_gazebo fox_house.launch

#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

#3. GMapping
roslaunch fox_localization gmapping.launch

#4. RViz
rosrun rviz rviz

Start AMCL

#1. Simulation
roslaunch fox_gazebo fox_house.launch

#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

#3. Map server
roslaunch fox_localization map.launch

#4. AMCL
roslaunch fox_localization amcl.launch

#5. RViz
rosrun rviz rviz

Start autonomous navigation (move_base) with GMapping

#1. Simulation
roslaunch fox_gazebo fox_house.launch

#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

#3. GMapping
roslaunch fox_localization gmapping.launch

#4. RViz
rosrun rviz rviz

#5. Move_base
roslaunch fox_navigation move_base.launch 

Start autonomous navigation(move_base) with AMCL

#1. Simulation
roslaunch fox_gazebo fox_house.launch

#2. Teleoperation
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

#3. Map server
roslaunch fox_localization map.launch

#4. AMCL
roslaunch fox_localization amcl.launch

#5. RViz
rosrun rviz rviz

#6. Move_base
roslaunch fox_navigation move_base.launch 

ToDo:

• Navigation parameters need to be tuned

• Gazebo simulation: friction values etc need to be tuned.