easynav_outdoor_stack

VFF-based outdoor navigation system

This repository contains the VFF-based outdoor navigation system for robots using GPS input.

To test the system, use the following simulation repository: https://github.com/EasyNavigation/easynav_playground_summit.git

Running the Simulation:

1. Launch the simulation environment using the easynav_playground_summit repo.

2. In a new terminal, run the navigation system with:

   ros2 run easynav_system system_main \
     --ros-args \
     --params-file <your_workspace>/src/easynav_outdoor_stack/robots_params/summit_sim.params.yaml

3. Send a Goal from the 2D Goal Pose button on RViz2

Outdoor maps builder (WIP)

This repository contains the Maps builder for outdoor navigation

Install

Prepare your thirparty repos:

cd <easynav_ws>/src
vcs import < easynav_outdoor_stack/easynav_outdoor_maps_builder/thirdparty.repos

You can now build the package.

Run

With the same simulation, you can create a pointcloud map using for example lidar_slam.

In a new terminal, run the navigation system with:

ros2 run easynav_outdoor_maps_builder outdoor_maps_builder_main  --ros-args \
--params-file <your_workspace>/src/easynav_outdoor_stack/robots_params/summit_sim_slam.params.yaml

In map types, it is possible to select pcl (pointcloud) and/or gridmap.