Multi-Go

Overview

Multi-Go autonomous robot for wheelchair and cart mobility.

Keywords: ARuco, Navigation stack, docking

Prerequisites

• ROS2 Humble / Ubuntu 22.04 / NAV2 / Gazebo Simulator with ROS2 packages

Installation

sudo apt update
sudo apt install gazebo ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros
sudo apt install ros-humble-gazebo-*
sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs
sudo apt install ros-humble-pcl-conversions ros-humble-pcl-msgs python3-pip
pip3 install pyyaml
sudo apt install ros-$ROS_DISTRO-rtabmap-ros
sudo apt-get install ros-humble-pcl-ros
sudo apt install ros-humble-rtabmap-slam
sudo apt install ros-humble-pointcloud-to-laserscan
sudo apt update

Install NAV2

https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

Cloning

git clone [email protected]:Futu-reADS/multigo_navigation.git

Install

cd ~/multigo
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

Run

Run following commands:

cd ~/multigo
source install/setup.bash 

Simulation:

ros2 launch boot simulation.launch.py 

ros2 launch boot run.launch.py 

Robot:

ros2 launch boot boot.launch.py 

ros2 launch boot run.launch.py 

Remote Login Example

ssh -X USER @ IP_Address
source install/setup.bash
ros2 launch boot rviz_launch.py