Source:
- Top level ROS node: https://github.com/thentnucyborg/CyborgRobot/tree/master/src/cyborg_ros_navigation
- Required libraries: https://github.com/thentnucyborg/CyborgRobot/tree/master/src/navigation
- Required ROS node: https://github.com/thentnucyborg/CyborgRobot/tree/master/src/rosaria
Navigation stack
Takes desired goal on topic move_base_simple/goal as input.
Publishes velocity commads on topic cmd/vel
Requires URDF file of robot model
Requires .yaml and .png file of the map
Overview
High-level:
Detailed: