rrt_exploration_tutorials

This package is a complementary package for the rrt_exploration ROS package. It provides all the needed Gazebo simulation files to bring up Kobuki robots equipped with laser scanners and ready for the rrt_exploration package.

1. Requirements

The package has been tested on both ROS Kinetic and ROS Indigo, it should work on other distributions like Jade. The following requirements are needed before installing the package:

1- You should have installed a ROS distribution (indigo or later. Recommended is either indigo or kinetic).

2- Created a workspace.

3- Installed the "gmapping" ROS package: on Ubuntu, and if you are running ROS Kinectic, you can do that by typing the following command in the terminal:

$ sudo apt-get install ros-kinetic-gmapping

4- Install ROS navigation stack. You can do that with the following command (assuming Ubuntu, ROS Kinetic):

$ sudo apt-get install ros-kinetic-navigation

5- Install Kobuki robot packages:

sudo apt-get install ros-kinetic-kobuki ros-kinetic-kobuki-core
sudo apt-get install ros-kinetic-kobuki-gazebo

2. Installation

Download the package and place it inside the /src folder in your workspace. And then compile using catkin_make.

3. Example

roslaunch rrt_exploration_tutorials single_simulated_house.launch