Project description

An attempt to simulate a robot capable of mapping the scene and register objects movement or deviation from reference map. The example of such robot is DOXEL

Required packages

• loam_velodyne

Installation

cd ~/catkin_ws/src
git clone https://github.com/EgorOs/youbot_integration.git
git clone http://github.com/youbot/youbot_description.git -b kinetic-devel
git clone https://github.com/youbot/youbot_simulation.git
git clone https://bitbucket.org/DataspeedInc/velodyne_simulator.git
git clone https://github.com/team-vigir/flexbe_behavior_engine.git
https://github.com/EgorOs/youbot_lidar_moveit.git
cd ~/catkin_ws
catkin_make

To install octomap use the following lines:

sudo apt-get install ros-kinetic-octomap-server ros-kinetic-turtlebot ros-kinetic-turtlebot-teleop ros-kinetic-turtlebot-description ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-rviz-launchers ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-simulator

Known issues

• Reinstall gazebo sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
• Install joint state contoroller sudo apt-get install ros-kinetic-joint-state-controller

Usage

source ~/catkin_ws/devel/setup.bash
roslaunch youbot_launch youbot_velodyne.launch

Demo

Watch video