How to install/setup/use navigation stack

Question

Hi,

I have built a MIT-Racecar which has ROS, ubuntu, Ackermann and VESC. The car can be driven with a teleop who sends out ackermann_msgs/AckermannDriveStamped type messages in ROS. The car also publishes /tf, /odom, hokuyo 2D LiDar related /scan messages, and ZED stereo camera related image and camera message.

I am a little confused about what exactly I need to do next to make it autonomous. After reading the navigation stack tutorial on ROS Wiki, I think I need to do the following:

1. Install the navigation stack by

   sudo apt-get install ros-kinetic-navigation

2. Create a ros package under my MIT-Racecar workspace and setup the config and launch files as described in http://wiki.ros.org/navigation/Tutorials/RobotSetup

3. Since I am using Ackermann, I need to install and setup teb_local_planner.

4. Run the stack with launch file generate in 2 by

   Terminal 1: roslaunch my_robot_configuration.launch

   Terminal 2: roslaunch move_base.launch

5. Use teleop to drive the car around to map the environment I am in (probably need to set some flag when I run the command in 4).

6. Run command in 4 in localization mode.

7. Set a gaol for the car, and then it will drive there autonomously.

Am I correctly in these steps?

Thank y ou very much.

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Originally posted by AutoCar on ROS Answers with karma: 102 on 2018-07-06

Post score: 1

Answer 1

yes you are correct. you can get a better idea of how this all works with the clearpath husky demo

Try running the mapping tutorial, then the amcl tutorial and you will have a basic understanding of how the navigation stack works. When you use your own robot, its just a matter of a different launch configuration.

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Originally posted by aarontan with karma: 135 on 2018-07-06

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by AutoCar on 2018-07-07:
What SLAM algo does the ROS navigation stack use? gmapping, hector, ...

Comment by aarontan on 2018-07-08:
this depends on you, if you go through the husky clearpath demo, they use gmapping

Comment by AutoCar on 2018-07-15:
If I install the ROS navigation stack by sudo apt-get install ros-kinetic-navigation, does it install gmapping? Or I have to install gmapping separately?

Comment by aarontan on 2018-07-16:
yes i believe it should