Navigation 실행 방법 설명

1. Navigation in ROS
Jihoon Lee

2. What is Navigation?

3. What is Navigation?
지금 있는 곳에서부터 원하는 장소까지 찾아
가는 것!

4. What does navigation need?

5. What does navigation need?
내 위치
내가 갈 장소
장애물 감지
찾아 가는 방법

6. What info. does navigation need?
내 위
치 내가 갈 장
소
장애물 감
지
찾아 가
는 방법
1. Localization(내 위치)
2. Sensor(for 장애물감지)
3. Path Planning(찾아가는 방법)
4. Goal position(내가 찾아갈 장소)
추가적으로…
1. Map
2. TF to link sensor and mobile base

7. Demo - TurtleBot Stage
Explain
● Sensor
● Init pose
● AMCL localization
● Path planning
● Costmaps
● Turtlebot TFs
http://wiki.ros.org/turtlebot_stage

8. How do we prepare navigation?

9. How do we prepare navigation?
With correctly configured robotMapping

10. TurtleBot
Hardware
● Yujin Robot Kobuki
● 3D Sensor
● ASUS Netbook
● TurtleBot Structure
ROS Reference Platform Ready for research
Why important?
● URDF(or tf)
● Sensor
● Mobile base
Please refer navi stack wiki for other robot setup :
http://wiki.ros.org/navigation/Tutorials/RobotSetup

11. TurtleBot
TurtleBot URDF and TF Demo

12. How to configure other robots?
Please refer navi stack wiki for other robot setup :
http://wiki.ros.org/navigation/Tutorials/RobotSetup
You need to configure….
● URDF(or TF) for your robot
and tune…
● navigation parameters

13. Mapping
SLAM
: Simultaneous Localization and Mapping
ROS provides…
● gmapping as default

14. Mapping Demo with TurtleBot
> sudo apt-get install ros-indigo-turtlebot*
# Turtlebot bringup
> roslaunch turtlebot_bringup minimal.launch --screen
# Gmapping
> roslaunch turtlebot_navigation gmapping_demo.launch -- screen
# Rviz bringup with navigation setup
> roslaunch turtlebot_rviz_launcher view_navigation.launch
# Teleop
> roslaunch turtlebot_telop keyboard_teleop.launch
# Map saving
> rosrun map_server map_saver -f “file name”

15. Navigation Demo with TurtleBot
# Installation
> sudo apt-get install ros-indigo-turtlebot*
# Turtlebot bringup
> roslaunch turtlebot_bringup minimal.launch --screen
# Gmapping
> export TURTLEBOT_MAP_FILE=<FILE_PATH>
> roslaunch turtlebot_navigation gmapping_demo.launch -- screen
# Rviz bringup with navigation setup
> roslaunch turtlebot_rviz_launcher view_navigation.launch
# init pose
# set goal

16. 실습!
Turtlebot Stage
> sudo apt-get install ros-indigo-turtlebot-stage
> source /opt/ros/indigo/setup.bash
> roslaunch turtlebot_stage turtlebot_in_stage.launch
Turtlebot Gazebo
> sudo apt-get install ros-indigo-turtlebot-
> source /opt/ros/indigo/setup.bash
> roslaunch turtlebot_stage turtlebot_in_stage.launch