Description

Tools for interfacing the MRL Robots with the navigation stack in pre-specified static maps. Robots were extended with Hokuyo URG-04LX LRFs for 2D navigation.

Maps

Maps of the MRL Arena and the ISR-floor0 are available in the maps folder of the mrl_robots_2dnav package.

Launch Files

Stingbot

• stingbot_bringup.launch

  • Start up the stingbot driver, hokuyo_node and the /base_link→/laser transform.

• move_stingbot_arena_mrl.launch

  • Start up map_server, amcl and move_base in the MRL arena with specific stingbot parameters.

• move_stingbot_isr_map.launch

  • Start up map_server, amcl and move_base in the ISR-floor0 with specific stingbot parameters.

Traxbot

• traxbot_bringup.launch

  • Start up the traxbot driver, hokuyo_node and the /base_link→/laser transform.

• move_traxbot_arena_mrl.launch

  • Start up map_server, amcl and move_base in the MRL arena with specific traxbot parameters.

• move_traxbot_isr_map.launch

  • Start up map_server, amcl and move_base in the ISR-floor0 with specific traxbot parameters.

rviz Snapshots

A Traxbot navigating in the MRL Arena as seen in rviz.

A Stingbot navigating in the ISR-floor0 as seen in rviz.