RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

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

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Fix real robot navigation #245

Closed eborghi10 closed 3 years ago

eborghi10 commented 3 years ago

Description

This PR makes the real robot navigate without almost any problem. It also adds more features:

Initial support for R200 camera
Install packages in Docker with Release
Don't print on the screen messages for AMCL and slam_gmapping
Reduce velocity limits for DWA local planner

Type of change

[X] Bug fix (non-breaking change which fixes an issue)
[ ] This change requires a documentation update

How Has This Been Tested?

RVIZ=true LOCALIZATION=amcl LASER=rplidar roslaunch ca_bringup complete.launch

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