An example of using the packages can be seen in Robots/CIR-KIT-Unit03.

About

This package sequentially navigates a robot via move_base by sending waypoints generated by waypoint_generator.

Usage

Specify a waypoint file to load.

• Copy a waypoint file to waypoint_navigator/waypoints.

• Edit an argument waypointsfile in waypoint_navigator/launch/waypoint_nagigator.launch to the copied one.

Run base nodes for CIR-KIT-Unit03.

For Real Robot

• Bring up all components and run navigation related packages. For instance, the following package from [cirkit_unit03_apps](https://github.com/CIR-KIT-Unit03/cirkit_unit03_apps) should be a good example.

roslaunch cirkit_unit03_autorun autorun.launch

For Gazebo

• [cirkit_unit03_apps](https://github.com/CIR-KIT-Unit03/cirkit_unit03_apps) also includes a simlar autorun launch file for Gazebo.

roslaunch cirkit_unit03_autorun autorun_gazebo.launch

Start navigation.

• Finally you can experience our sequential navigation from the following command!

roslaunch waypoint_navigator waypoint_navigator.launch

• Your robot should be navigated soon.