A basic version of navigation stack with a custom differential driven robot .

Create and setup the workspace

mkdir catkin_ws

cd catkin_ws

mkdir src

cd src

catkin_init_workspace

Clone the repository inside workspace and build it using the following command

git clone https://github.com/rajmohan747/customRobotBasicStack.git

catkin_make -DCMAKE_BUILD_TYPE=Release

Launch the files in the following sequence

roslaunch amr_bringup amr.launch

roslaunch amr_navigation amr_navigation.launch

After launching the above two files,you should be able to see the Gazebo and Rviz for the simulated environment.

Now robot can be moved in the simulation environment either using keyboard teleop or Rviz or with the ros service call(robot_goal). Launch the following command for teleoperating the robot

roslaunch amr_bringup amr_teleop.launch 

The amr_motion node in the amr_motion package can be used for enabling the robot the robot and setting the target location for robot.

For activating the robot,use the following ros service call

rosservice call /robot_activate "robotEnable: true" 

Robot can be deactivated at any point of time using,the following command

rosservice call /robot_activate "robotEnable: false" 

The command for robot for moving to any location can be given through either Rviz or through the following ros service

rosservice call /robot_goal "x: 0.0
y: 0.0
z: 0.0
w: 0.0" 

Note : x,y are the x-y cordinates of the target location in map frame and z,w the quaternion values of the target location. Also,make sure if the ros service robotEnable is set as "false" ,robot won't be moving irrespective of whether the command is given from keyboard teleop,Rviz,or service call (robot_activate)

Note : Command velcoities from keyboard teldeop and navigation are being published on topics keyboard/cmd_vel ,navigation/cmd_vel respectively. The priorities for each and output velocity control is being done with the twist_mux packagee.The configuration file can be found at customRobotBasicStack/amr_bringup/config