navigation

Description

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.The Navigation Stack is fairly simple on a conceptual level. It takes in information from odometry and sensor streams and outputs velocity commands to send to a mobile base. Use of the Navigation Stack on an arbitrary robot, however, is a bit more complicated. As a pre-requisite for navigation stack use, the robot must be running ROS, have a tf transform tree in place, and publish sensor data using the correct ROS Message types. Also, the Navigation Stack needs to be configured for the shape and dynamics of a robot to perform at a high level. To help with this process, this manual is meant to serve as a guide to typical Navigation Stack set-up and configuration.

Software Architecture

Software architecture description

navigation includes amcl, dwa_local_planner, move_slow_and_clear, rotate_recovery, base_local_planner, fake_localization, nav_core, voxel_grid ,carrot_planner, global_planner, navfn, clear_costmap_recovery map_server, navigation, costmap_2d and move_base.

input:

navigation
├── amcl
├── base_local_planner
├── carrot_planner
├── clear_costmap_recovery
├── costmap_2d
├── dwa_local_planner
├── fake_localization
├── global_planner
├── move_base
├── move_slow_and_clear
├── nav_core
├── navfn
├── navigation
├── README.md
├── rotate_recovery
└── voxel_grid

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-navigation-1.17.1-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-navigation-1.17.1-1.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-navigation-1.17.1-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-navigation-1.17.1-1.oe2203.x86_64.rpm --nodeps --force

Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

navigation
├── cmake.lock
├── env.sh
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
└── setup.zsh

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

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