Mobile_Robotics_Final_Project

Course Project of AI3702 of SJTU, 2023 Spring

Install Required Packages:

sudo apt-get install ros-melodic-tf2-sensor-msgs
sudo apt-get install ros-melodic-navigation
sudo apt-get install ros-melodic-gmapping

Build

cd Robotics_Navi_ws
catkin_make
source ./devel/setup.bash

Start

• Model requirement:

• unzip model.tar.gz in the folder ~/.gazabo, and rename the folder extracted as models

• Building Map

  sh buildmap.sh

• Saving Map

  sh savemap.sh

• Navigation Environment setup

  sh Navigation.sh

Remark

• The commands in shell is wriiten for zsh, for bash or other kinds of shell, please change all the zsh to bash.

• We use astar written by ourselves, the astar_sol was used to debug and compare.

Control

• USE rqt to set the value of topic /move_base_simple/goal