kangre_bot

Kangre Bot is a low cost robot based in navigation.

Clone your repo into your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/ShikurM56/lx-16a_ros.git
cd ~/catkin_ws/
catkin_make

Install all the dependences

sudo apt-get install ros-melodic-gmapping
sudo apt-get install ros-melodic-cartographer-ros
sudo apt-get install ros-melodic-map-server
sudo apt-get install ros-melodic-move-base
sudo apt-get install ros-melodic-dwa-local-planner

Connecting to Kangre Bot

ssh qbit@192.168.0.100
root

For mapping:

Kangre_bot:

roslaunch kangre_firmware bringup.launch
roslaunch kangre_firmware server_bringup.launch

Running the gmapping node:

rosrun gmapping slam_gmapping scan:=scan

Running the cartographer node:

roslaunch kangre_slam cartographer_map.launch

Laptop:

roslaunch kangre_visualization display.launch

Save the map:

rosrun map_server map_saver -f map_name

For navigation:

Kangre_bot:

roslaunch kangre_firmware bringup.launch
roslaunch kangre_firmware server_bringup.launch
roslaunch kangre_navigation kangre_navigation.launch

Laptop:

kangre_visualization kangre_navigation.launch