Navigation system for outdoor mobile robot.
gh-page generated by doxygen.
- Ubuntu 20.04
- ROS Noetic
- nvidia driver
- docker (optional)
- nvidia docker (optional)
cd ~/catkin_ws/src
git clone https://github.com/KobeKosenRobotics/naviton_navigation.git
./naviton_navigation/setup.bash
or
sudo apt update
sudo apt install -y python3-vcstool
cd ~/catkin_ws/src
git clone https://github.com/KobeKosenRobotics/naviton_navigation.git
cd naviton_navigation
vcs import depend < depend_packages.repos --recursive
cd ../..
rosdep install -i -y --from-paths src
catkin build
or
- docker
- nvidia docker
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/KobeKosenRobotics/naviton_navigation/main/docker/naviton/run.bash)" -g
When you exit and go out of the container, naviton_navigation.bash is created in the home directory.
From the second time on, use the following command.
./naviton_navigation.bash
cd ~/catkin_ws
source devel/setup.bash
roslaunch nvt_core demo.launch
start_demo.mp4
demo.mp4
Thank you for citing our paper if you use any of this code:
@article{naviton2023,
title={Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge},
author={Hara, Shunya and Shimizu, Toshihiko and Ozawa, Masayoshi and Sakai, Masahiko and Oyama, Tadahiro and Samuel, Amar Julien},
journal={Journal of Robotics and Mechatronics},
volume={35},
number={6},
pages={1540--1549},
year={2023},
publisher={Fuji Technology Press Ltd.}
}