Version:1.0.0 ROS packages used to to run volta with hardware
- volta_base - Package contains files to connect to the robot and run the sensor driver.
- volta_control - Control configuration required for ROS control.
- volta_description - Volta Robot description (URDF files).
- volta_localization - Sensor fusion of wheel odometry and IMU data using the robot localization package.
- volta_msgs - contains ROS messages specific to volta such as the power board messages,..etc
- volta_navigation - Contains files required for running gmapping, amcl and move_base ROS packages.
- volta_teleoperation - Control the robot using keyboard or Joystick.
- volta_rules - Contains rules that ensures the USB peripherals are binded correctly
- Launch the move_base node by running:
$ roslaunch volta_base bringup.launch
- Launch the sensors node by running:
$ roslaunch volta_base sensors.launch
- To perform the mapping, launch the navigation package by running
$ roslaunch volta_navigation navigation.launch gmapping:=true
- Launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
- In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true
- Once the mapping of the entire environment is completed, the map can be saved by running:
$ rosrun map_server map_saver –f <filename>
- Launch the move_base node by running:
$ roslaunch volta_base volta_bringup.launch
- Launch the sensors node by running:
$ roslaunch volta_base volta_bringup.launch
- To perform the Autonomous navigation, launch the navigation package by running
$ roslaunch volta_navigation navigation.launch
- Launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map