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AGV-OTA (ROS Noetic)

This repository includes the AGV ROS Noetic packages."main" branch is latest version of AGV-OTA.

Image of AGV

  • agv_description: It is the sub-package containing urdf and mesh files of the AGV.
  • agv_simulation: It is a sub-package containing the package and launch files required for the simulation of the AGV.
  • agv_slam: It is a sub-package containing the slam_gmapping launch files.
  • agv_navigation: It is a sub-package containing the navigation launch and config files.
  • (NEW) agv_multirobot: It is a sub-package containing the AGV-OTA multirobot application files.

For other AGV ROS Packages:

https://github.com/inomuh/agvpc_ros

https://github.com/inomuh/agvsim_v1_ros

https://github.com/inomuh/agvpc_ros2

https://github.com/inomuh/agvsim_v2_ros

Launch Command:

Warning !!!

Before using launch commands, you must unzip ~/agv/agv_description/meshes/OTAv07_meshes/OTA-v0.7.tar.xz file..

Gazebo Launching:

$ roslaunch agv_simulation agv_gazebo_emptyworld.launch

Gazebo (Depo Map) Launching:

$ roslaunch agv_simulation agv_gazebo_depo.launch

Solo-Rviz Launching:

$ roslaunch agv_simulation agv_rviz_standalone.launch

Rviz (with Gazebo) Launching:

$ roslaunch agv_simulation agv_rviz.launch

SLAM Mapping Launching (must work with Gazebo and RViz Launching):

$ roslaunch agv_slam agv_slam.launch

Navigation Launching:

$ roslaunch agv_navigation agv_navigation.launch

Image of AGV Navigation

Requirements:

  • In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer.

      $ sudo apt update && sudo apt install ros-noetic-joint-state-publisher-gui

  • In order for the "joint_state_controller" to work, "joint_state_controller_gui" package must be downloaded to your computer.

      $ sudo apt install ros-noetic-ros-controllers

  • In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace.

      $ cd ~/catkin_ws/src && git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel

  • In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your computer.

      $ sudo apt-get install ros-noetic-gazebo-ros-pkgs

  • In order for the navigation tools to work properly, "ros-navigation" files must be downloaded to your computer.

      $ sudo apt-get install ros-noetic-ros-navigation

  • In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace.

      $ cd ~/catkin_ws/src && git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel

Changelog:

Update v1.0 - 07.12.20

  • First version

Update v1.1 - 07.01.21

  • Added AGV-OTA multirobot functionality with "agv_multirobot" subpackage.

  • Some bug fixes.

  • For Multirobot Launching:

      $ roslaunch agv_multirobot agv_multirobot.launch

Image of AGV-Multirobot

  • For basic application of AGV-OTA Multirobots:

      $ rosrun agv_multirobot multi_move.py

Update v1.1.1 - 07.01.2021

  • Bug fixes on "agv_multirobot" subpackage about "tf_prefix" and "robot_state_publisher"

  • In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace.

      $ cd ~/catkin_ws/src && git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel