Usage

Installation

Here is the instruction for installing the package:

$ mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ git clone https://github.com/aliy98/ros_gmapping_movebase
$ cd ..
$ source /opt/ros/<distro>/setup.bash
$ catkin_make

This rospackage also uses konsole for having multiple command shells. It can be installed with this command:

$ sudo apt install konsole

Running

Now you can initialize the simulation environment in gazebo and run rviz in the same time using the commands below

$ source devel/setup.bash
$ roslaunch final_assignment simulation_gmapping.launch

In order to run the movebase node, open a new terminal in the same directory and run the following commands:

$ source devel/setup.bash
$ roslaunch final_assignment move_base.launch

For initializing the master node also, in a new terminal run the following commands:

$ source devel/setup.bash
$ roslaunch final_assignment master.launch

then you can choose robot’s behaviour by inputing the corresponding number