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Releases: Eirlab/reachy_mobile_ezwheel

v1.0 Navigation stack

28 Jan 11:30
@sedelpeuch sedelpeuch
v1.0
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The objective of the ez-wheel base for the reachy mobile project is to support the reachy and allow it to move in a crowd.

This first version adds the navigation stack to the robot allowing to navigate on a pre-recorded map with a slam

  • ✨ added the navigation stack by default
  • ✨ configuration of the stack to match the robot (footprint, laser scan etc)
  • ✨ replaced base local planner by teb local planner
  • ✨ creation of a flask API to control the robot from a web page
  • 🐛 disable CPU intensive services not useful in our case (websocket, led managment)
  • 📝 created a documentation page for the project (in progress): https://eirlab.github.io/reachy_mobile_reachy/

Launching

To launch the stack you just have to turn on the EirLab base, on another base you have to clone our repository then.

cd catkin_ws
catkin_make
source devel/setup.bash
roslaunch reachy_mobile_navigation reachy_mobile_navigation.launch
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