# agv **Repository Path**: guningbo__buaa/agv ## Basic Information - **Project Name**: agv - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2021-11-04 - **Last Updated**: 2021-11-04 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # AGV-OTA (ROS Noetic) This repository includes the AGV ROS Noetic packages."main" branch is latest version of AGV-OTA. ![Image of AGV](https://github.com/inomuh/agv/blob/main/images/agv_gazebo.png) - agv_description: It is the sub-package containing urdf and mesh files of the AGV. - agv_simulation: It is a sub-package containing the package and launch files required for the simulation of the AGV. - agv_slam: It is a sub-package containing the slam_gmapping launch files. - agv_navigation: It is a sub-package containing the navigation launch and config files. - (NEW) agv_multirobot: It is a sub-package containing the AGV-OTA multirobot application files. ### For other AGV ROS Packages: https://github.com/inomuh/agvpc_ros https://github.com/inomuh/agvsim_v1_ros https://github.com/inomuh/agvpc_ros2 https://github.com/inomuh/agvsim_v2_ros Launch Command: --------------- ### Warning !!! Before using launch commands, you must unzip ~/agv/agv_description/meshes/OTAv07_meshes/OTA-v0.7.tar.xz file.. ------------------------------------------------------------------------------------------------------------- Gazebo Launching: $ roslaunch agv_simulation agv_gazebo_emptyworld.launch Gazebo (Depo Map) Launching: $ roslaunch agv_simulation agv_gazebo_depo.launch Solo-Rviz Launching: $ roslaunch agv_simulation agv_rviz_standalone.launch Rviz (with Gazebo) Launching: $ roslaunch agv_simulation agv_rviz.launch SLAM Mapping Launching (must work with Gazebo and RViz Launching): $ roslaunch agv_slam agv_slam.launch Navigation Launching: $ roslaunch agv_navigation agv_navigation.launch ![Image of AGV Navigation](https://github.com/inomuh/agv/blob/main/images/agv_nav_goal.png) ----------------------------------------------------------------------------------------------------------------------- Requirements: ------------- - In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer. $ sudo apt update $ sudo apt install ros-noetic-joint-state-publisher-gui - In order for the "joint_state_controller" to work, "joint_state_controller_gui" package must be downloaded to your computer. $ sudo apt install ros-noetic-ros-controllers - In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace. $ cd ~/catkin_ws/src $ git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel - In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your computer. $ sudo apt-get install ros-noetic-gazebo-ros-pkgs - In order for the navigation tools to work properly, "ros-navigation" files must be downloaded to your computer. $ sudo apt-get install ros-noetic-ros-navigation - In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace. $ cd ~/catkin_ws/src $ git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel ------------------------------------------------------------------------------- Changelog: ---------- Update v1.0 - 07.12.20 ---------------------- - First version Update v1.1 - 07.01.21 ---------------------- - Added AGV-OTA multirobot functionality with "agv_multirobot" subpackage. - Some bug fixes. - For Multirobot Launching: $ roslaunch agv_multirobot agv_multirobot.launch ![Image of AGV-Multirobot](https://github.com/inomuh/agv/blob/v1.1/images/agv_multirobot.png) - For basic application of AGV-OTA Multirobots: $ rosrun agv_multirobot multi_move.py Update v1.1.1 - 07.01.2021 -------------------------- - Bug fixes on "agv_multirobot" subpackage about "tf_prefix" and "robot_state_publisher" - In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace. $ cd ~/catkin_ws/src $ git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel