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Navigation #4

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@jacobjj jacobjj commented Mar 14, 2020

We added the following functions

  • Fixed the tf tree to include odom. The tree now publishes map->odom->base_link
  • Integrated amcl, to track position using simulated Lidar data
  • Added config files for navigation stack with Trajectory rollout as the local planner.

Let me know if there are questions or if there is anything else I should add.

Best,
Jacob

jacobjj and others added 30 commits December 21, 2019 14:12
@jacobjj
added base file for costmap
3e073c0
@jacobjj
addedd parameters for robot
502edbd
@jacobjj
added launch files for parameters
29b3c85
@jacobjj
Working robot configuration
2fede6f
@jacobjj
corrected global_frame parameter
dabcf2a
@jacobjj
changed global_frame parameter
4aa60a3
@jacobjj
added move_base package support
f43bc75
@jacobjj
removed joy initialization and added rviz loading
1c56b53
@jacobjj
added rviz config file
00405b3
@jacobjj
launch rviz with config file
a4cd152
@jacobjj
Added new maps
6ef1dcd
@jacobjj
Updated the loaded maps
6542473
@jacobjj
changed robot min_vel parameter
3b5ed6f
@jacobjj
load amcl package
4c37bb3
@jacobjj
New map
7ab42ff
@jacobjj
Modified map
9a2fab3
@jacobjj
update local costmap generation
c707ace
@jacobjj
odom to base_link transform
1f45bf9
@jacobjj
Added odom_frame
139b00c
@jacobjj
publish transform from base_link to laser
aceea9d
@jacobjj
merge branch from base
81b451c
@jacobjj
added odom frame and tf from map_to_odom
16dbc35
@jacobjj
Removed redundant tf
91baeba
@jacobjj
set new parameters for local_planner
326052b
@jacobjj
accurate footprint for the robot
feaa22b
@jacobjj
script to convert Twist to Ackermann
d8bd2c3
@jacobjj
Launch control Twist to Ackermann converter
cb0c407
@jacobjj
add comments
5cc0923
@jacobjj
uncomment joystick
40162ea
@jacobjj
removed old maps
1323ddd
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@jacobjj