Navigation of Eddie robot

Note

This repository provides configured ROS2 mapping, localisation, and navigation packages for the Eddie robot in Gazebo simulator.

ROS and Gazebo

• ROS Distribution: Jazzy (on Ubuntu 24.04) - Installation
• Gazebo Version: Harmonic

Dependencies

Nav2

sudo apt-get install ros-jazzy-navigation2 \
                      ros-jazzy-nav2-bringup \
                      ros-jazzy-slam-toolbox

Eddie Gazebo

• Clone the main branch into the workspace

  Also, install the dependencies of the package

• Clone the eddie_navigation package into the workspace

  cd ~/eddie_ws/src
  
  git clone https://github.com/secorolab/eddie_navigation.git

Build and source the workpace

cd ~/eddie_ws

colcon build

source install/setup.bash

Run Navigation

1. Launch the eddie in simulation

   ros2 launch eddie_gazebo run_sim.launch.py use_kelo_tulip:=true

2. If map of the arena is avaialble, skip to next step, otherwise follow the steps to create a map

   a. start mapping using slam_toolbox

   ros2 launch eddie_navigation online_async_slam.launch.py

   b. Use teleop to move the robot around

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

   c. After mapping, save the map using following command from eddie_navigation/maps/ path

   ros2 run nav2_map_server map_saver_cli -f map_name --occ 0.65 --free 0.15 --ros-args -p save_map_timeout:=20.0

3. Run the navigation launch file

   ros2 launch eddie_navigation eddie_nav_bringup.launch.py map_name:=<map_name>.yaml

   • The maps are available in maps directory

4. The topic /goal_pose of geometry_msgs/msg/PoseStamped type is available to get goal pose