ros_navigation_vrep_simulation

For mooc
ros navigation simulation using vrep.

git clone https://github.com/bit-ivrc/ros_navigation_stack_vrep_simulation.git && cd ros_navigation_stack_vrep_simulation

install library

If you not install ROS, just run

./scripts/install_ros.sh

This script will install ros.

If you have already installed ros,

./scripts/install_vrep.sh

This script will install vrep.

Build the vrep_ros_interface at the end.

./scripts/install_vrep_ros_interface.sh

sudo apt-get install ros-kinetic-bfl
sudo apt-get install ros-kinetic-move-base
sudo apt-get install libbullet-dev libsdl1.2-dev libsdl-image1.2-dev

compile package

catkin build

start sumulation

1. run roscore in the termimal.
2. open vrep by running vrep command in the terminal(Note: You have to run roscore before launching vrep).
3. load the scene file navigation_manta.ttt under scenes.

source devel/setup.bash
roslaunch move_base move_base.launch

4. run simulation at vrep.
5. set goal point.

configuration

ros_navigation_stack_vrep_simulation/src/Navigation/move_base/cfg/base_local_planner_params.yaml
speed range: max_vel_x min_vel_x
limit of angular acceleration: acc_lim_theta
limit of longitudinal acceleration: acc_lim_x
limit of lateral acceleration: acc_lim_y
sample time: sim_time: 4.0

Related stacks

https://github.com/ros-planning/navigation.git