This package contains the navigation files for the different robotic platforms.

Content

The package contains the following folders:

• config: Navigation configuration files (1 folder per base)
  • base_local_planner_params.yaml: Parameters for the local planner (TrajectoryPlannerROS) and the global planner (NavfnROS) of move_base
  • costmap_common_params.yaml: Parameters for the local and global costmap with the obstacle sources
  • global_costmap_params.yaml: Parameters for the global costmap
  • local_costmap_params.yaml: Parameters for the local costmap
  • smoother.yaml: Parameters for the yocs_velocity_smoother
• launch: ROS launch files
  • localization.launch: Starts the robot base and RTAB-Map in localization mode.
  • mapping.launch: Starts the robot base and RTAB-Map in mapping mode.
  • mapping.rviz: RViz config save file with the correct display to monitor mapping.
  • navigation.launch: Starts move_base node with the params from the config folder.
  • navigation.rviz: RViz config save file with the correct display to monitor navigation.
  • patrolExecutive.launch: Starts the ROS node that can execute a patrol on the robot.
  • teleop.launch: Starts the teleop node.
  • include: Contains the specific launch files for the hardware setup of each robot.
    • bases: Launch files for the specific base of the robot
    • frames: Frames of reference for the sensors
    • sensors: Lidar and camera launch files
    • securbot_bringup.launch: Starts the robot with the appropriate base, frames and sensors.
    • rtabmap_bringup.launch: Starts RTAB-Map in mapping or localization according to the provided arguments.
    • virtualDevices.launch: Start the map image generator and create the virtual cameras trough V4L2 loopback that will be opened by EasyRTC.
  • template_launch_files: Contains templates for creating new launch files.
  • demo:
    • securbot_demo.launch: Start the full SecurBot demo with RTAB-Map in mapping mode. It allows teleoperation and patrol trough the web interface.
• scripts: Python scripts for the waypoint navigation
• test: Test scripts for the package's scripts based on the ROS test framework and Python unittest.

Usage

Visit the wiki for examples on how to use these files.