how to make autonomous and navigation?

Hello everyone.

I'm trying to make my own robot. However, there is a point where I am stuck.I can draw and save a map with Hector slam. It happens successfully.I can map nicely using teleop.However, I don't know how I can be autonomous on this map that I have drawn.Do I have to spend a lot of time and effort for this? Or are there packages that can make this job easier?

Equipment I use:

ROS neotic
Arduino UNO
DC motor
Raspberry pi 3
Rosserial

thank u.

Asked by wgsu on 2021-06-14 08:38:19 UTC

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Answers

Take a look at this tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup

Basically you need to use map_server to publish the map and run move_base. However, you need to configure the costmaps, global and local planners for it to run well.

Asked by rezenders on 2021-06-14 13:33:55 UTC

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thank you. But I can map. so I can create and save my map with hector_slam.

My purpose is to navigate using arduino and raspberry pi + ros + dc engine. and autonomously advancing to the target with 2d goal over rviz.

Do you have a recommendation for this?

Asked by wgsu on 2021-06-15 00:33:52 UTC

Take a look at the tutorial mentioned in rezenders's comment and take a look also at turtlebot3 example: https://github.com/ROBOTIS-GIT/turtlebot3/tree/noetic-devel

you can see also: https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/ (check what you need from left side menu)

Then you should be able to understand everything.

Asked by Youssef_Lah on 2021-06-15 14:45:40 UTC

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thanks. but everyone gives me bur samples. implements these examples. But how do I apply them to my card with my own physical arduino? There is no article or example about it. I don't want Turtlebot and simulated environment ( gazebo ). I want to physically navigate my robot and see it on the rviz screen.

I don't have encoder engines so I can't get odometry data. Is it impossible to do without this?

Asked by wgsu on 2021-06-16 00:16:24 UTC