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Navigation_controller

A simple implement of robot navigation task

Install

source /opt/ros/<ros-distro>/setup.bash
mkdir -p ~/nav_ros1_ws/src
cd ~/nav_ros1_ws/src
git clone https://github.com/ISCI-LAB/navigation_controller.git
cd ~/nav_ros1_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build

Quickstart

  1. Launch velocity control node and action server 
    source ~/nav_ros1_ws/devel/setup.bash
roslaunch navigation_controller navigation.launch map_frame_id:=odom
  2. (Optional) Send goal by rostopic command 
    rostopic pub /navigation_controller/send_goal/goal move_base_msgs/MoveBaseActionGoal ...

There is an example of action client with rospy in "navigation_controller/script/".

User can create your own version as the same format.