BUTIA-Bots Navigation and Mapping System

This repository contains a collection of ROS (Robot Operating System) packages needed for Simultaneous Localization and Mapping (SLAM), navigating and also performing simulations.

Nodes

• gmapping: Provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.
• amcl: amcl is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a particle filter to track the pose of a robot against a known map.
• move_base: Provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
• urg_node: Driver for Hokuyos laser range-finders.

Topics

• /initialpose (geometry_msgs/PoseWithCovarianceStamped): Useful for setting the start pose of the robot. Used by amcl.
• /map (nav_msgs/OccupancyGrid): A latched topic (meaning that the data is sent once to each new subscriber) that contains information about the occupancy grid. Usually created by a SLAM mapping service and saved to disk by the map_server.
• /move_base_simple/goal (geometry_msgs/PoseStamped): Provides a non-action interface to move_base for users that don't care about tracking the execution status of their goals. Useful for setting a goal through Rviz, for example. The move_base package subscribes to this topic and use it to set new goals.
• /move_base/goal (move_base_msgs/MoveBaseActionGoal): A goal for move_base to pursue in the world. Can be used if tracking status is needed.
• /move_base/cancel actionlib_msgs/GoalID A request to cancel a specific goal.
• /move_base/status (actionlib_msgs/GoalStatusArray): Provides status information on the goals that are sent to the move_base action.
• /move_base/result move_base_msgs/MoveBaseActionResult: Publishes only the final status of the goal. Status code 3 means it was sucessful in reaching the goal, code 4 means it was aborted due to some failure.
• /tf (tf/tfMessage): Contains coordinate frames for moving parts.
• /tf_static (tf/tfMessage): Contains transform information about static components (laser, kinetic, robot model, etc.). Used mostly internally.
• /scan (sensor_msgs/LaserScan): Laser scans to create the map from and to create the costmap.
• /cmd_vel (geometry_msgs/Twist): Used to control the robot motors. Used internally by the nodes. Used by move_base and teleop_twist_joy.

Bagfiles

Recorded bags can be found on Google Drive