Only released in EOL distros:

mrl_robots: mrl_robots_2dnav | mrl_robots_description | mrl_robots_drivers | mrl_robots_sensors | mrl_robots_teleop

Package Links

Dependencies (3)

Package Summary

Parameters and launch files for using the 2D navigation stack on the Stingbot and Traxbot robots.

Author: David Portugal and André Araújo
License: BSD
Source: svn http://isr-uc-ros-pkg.googlecode.com/svn/stacks/mrl_robots/trunk

Contents

Description
Maps
Launch Files
1. Stingbot
2. Traxbot
rviz Snapshots

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.

Stingbot with an Hokuyo LRF Traxbot with an Hokuyo LRF

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.