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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-05-18 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The interbotix_xslocobot_nav package
Additional Links
No additional links.
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_nav
Overview
This package configures the ROS Navigation Stack needed to give any X-Series Interbotix LoCoBot platform the ability to perform simultaneous localization and mapping (SLAM), navigation, or just localization. It can be used with just the Intel RealSense D435 camera or with both the camera and the A2M8 RPLidar laser scanner. The localization and mapping part is done using the rtabmap_ros ROS package while the navigation part is accomplished via the move_base ROS package. For best results, this package should be run with the robot in an indoor, uncluttered environment that does not contain too much sunlight and has minimal reflective surfaces.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/xslocobot_nav_sim.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- arm_model [default: $(eval 'mobile_' + arg('robot_model').split('_')[1])]
- use_lidar [default: true]
- show_gripper_bar [default: true]
- show_gripper_fingers [default: true]
- external_urdf_loc [default: ]
- localization [default: false]
- rtabmap_args [default: ]
- use_rtabmapviz [default: false]
- rtabmapviz_args [default: ]
- database_path [default: ~/.ros/rtabmap.db]
- camera_tilt_angle [default: 0.2618]
- use_rviz [default: true]
- base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
- rviz_frame [default: map]
- world_name [default: $(find interbotix_xslocobot_gazebo)/worlds/xslocobot_gazebo.world]
- gui [default: true]
- debug [default: false]
- paused [default: true]
- recording [default: false]
- use_sim_time [default: true]
- use_position_controllers [default: false]
- use_trajectory_controllers [default: false]
- dof [default: 5]
- move_base_cmd_vel_topic [default: mobile_base/commands/velocity]
- move_base_cmd_vel_topic [default: cmd_vel]
- odom_topic [default: mobile_base/odom]
- odom_topic [default: odom]
- rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/ProximityBySpace true --RGBD/ProximityPathMaxNeighbors 10 --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth false --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Grid/RangeMax 0 --Reg/Force3DoF true --Reg/Strategy 1 --Mem/STMSize 30 --Icp/VoxelSize 0.05 --Icp/CorrespondenceRatio 0.4 --Icp/MaxCorrespondenceDistance 0.1]
- rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth true --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Reg/Force3DoF true --Reg/Strategy 0 --Mem/STMSize 30]
- robot_model [default: $(arg robot_model)]
- robot_name [default: $(arg robot_name)]
- arm_model [default: $(arg arm_model)]
- show_lidar [default: $(arg use_lidar)]
- show_gripper_bar [default: $(arg show_gripper_bar)]
- show_gripper_fingers [default: $(arg show_gripper_fingers)]
- external_urdf_loc [default: $(arg external_urdf_loc)]
- use_rviz [default: $(arg use_rviz)]
- rviz_frame [default: $(arg rviz_frame)]
- world_name [default: $(arg world_name)]
- gui [default: $(arg gui)]
- debug [default: $(arg debug)]
- paused [default: $(arg paused)]
- recording [default: $(arg recording)]
- use_sim_time [default: $(arg use_sim_time)]
- use_position_controllers [default: $(arg use_position_controllers)]
- use_trajectory_controllers [default: $(arg use_trajectory_controllers)]
- dof [default: $(arg dof)]
- launch/xslocobot_nav.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- use_lidar [default: false]
- show_lidar [default: $(arg use_lidar)]
- external_urdf_loc [default: ]
- use_rviz [default: false]
- base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
- localization [default: false]
- rtabmap_args [default: ]
- use_rtabmapviz [default: false]
- rtabmapviz_args [default: ]
- database_path [default: ~/.ros/rtabmap.db]
- camera_tilt_angle [default: 0.2618]
- launch_driver [default: true]
- move_base_cmd_vel_topic [default: mobile_base/commands/velocity]
- move_base_cmd_vel_topic [default: /mobile_base/cmd_vel]
- odom_topic [default: mobile_base/odom]
- odom_topic [default: /mobile_base/odom]
- rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/ProximityBySpace true --RGBD/ProximityPathMaxNeighbors 10 --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth false --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Grid/RangeMax 0 --Reg/Force3DoF true --Reg/Strategy 1 --Mem/STMSize 30 --Icp/VoxelSize 0.05 --Icp/CorrespondenceRatio 0.4 --Icp/MaxCorrespondenceDistance 0.1]
- rtabmap_default_args [default: $(arg rtabmap_args) --RGBD/NeighborLinkRefining true --RGBD/AngularUpdate 0.01 --RGBD/LinearUpdate 0.01 --RGBD/LocalRadius 5 --RGBD/OptimizeFromGraphEnd false --Grid/FromDepth true --Grid/MaxObstacleHeight 0.7 --Grid/RayTracing true --Reg/Force3DoF true --Reg/Strategy 0 --Mem/STMSize 30]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged interbotix_xslocobot_nav at Robotics Stack Exchange
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