cob_apps: cob_2dnav | cob_2dslam | cob_arm_navigation | cob_bringup | cob_component_test | cob_dashboard | cob_generic_states | cob_mmcontroller | cob_script_server | cob_simpledrive | cob_simpletrajectories | cob_tactiletools | cob_teleop | cob_webportal
Package Summary
No API documentation
This Package provides launch files for running Care-O-bot with the ROS navigation stack.
- Author: Florian Weisshardt
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_apps.git
Contents
Hardware Requirements
To use this package you need either a real Care-O-bot or you can use a simulated one.
ROS API
The cob_2dnav package uses the ROS navigation stack to navigate with the robot.
Usage/Examples
Building all packages needed for cob_2dnav
rosdep install cob_2dnav rosmake cob_2dnav
Make sure you started either a real robot or a simulated one using cob_bringup.
Start the 2D navigation with
roslaunch cob_2dnav 2dnav.launch
Using rviz to localize the robot and send goals to the navigation
Please localize the robot and send some navigation goals following the rviz navigation stack tutorial.
Using the Care-O-bot dashboard
If the robot is localized you can use the cob_dashboard to send navigation goals.
Sending goals from code
A tutorial on sending goals to the navigation stack with code can be found here.