RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Navigation fixes [July 18th] #238

Closed eborghi10 closed 3 years ago

eborghi10 commented 3 years ago

Description

This PR introduces a bunch of fixes:

Move robot to (0,0,0) in Sweet House environments
Add maps for Sweet House environments
Clean up exploration launch file
Use move_base by default instead of MBF
Change EFK settings for IMU

Type of change

Please delete options that are not relevant.

[X] Bug fix (non-breaking change which fixes an issue)

How Has This Been Tested?

# Gazebo
RVIZ=true LASER=rplidar LOCALIZATION={slam,amcl} roslaunch ca_gazebo create_sweet_house_3.launch
roslaunch ca_mapping_exploration explore_lite.launch
# Step 2
LOCALIZATION=amcl RVIZ=true LASER=rplidar LOCAL_PLANNER=dwa roslaunch ca_bringup complete.launch env:=my_house

Test Configuration:

[X] Real robot
[X] Gazebo simulation

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works
[x] New and existing unit tests pass locally with my changes