README.md

erwhi-hedgehog-ros

ERWHI Hedgehog ROS files

Setup

Go into your workspace source folder (e.g. catkin_ws/src):
cd ~/catkin_ws/src
clone this repository:
git clone http://github.com/gbr1/erwhi-hedgehog-ros.git
return in catkin_ws:
cd ..
check dependencies:
rosdep install --from-paths src --ignore-src -r -y
make:
catkin_make
install:
catkin_make install

Launch

Let's start Erwhi:
roslaunch erwhi_bringup bringup.launch
To simulate in Gazebo:
roslaunch erwhi_gazebo erwhi_gazebo.launch
To run autonomous navigation:
roslaunch erwhi_navigation explore.launch

Demo

Video of robot working: link to youtube
Video of "How to Simulate Erwhi in Gazebo": link to youtube

Dependencies

• sengi_ros
• bosch_imu_driver
• realsense2_camera

Known issues

• explore won't work with DWA, so Erwhi planners are based on TEB
• frontier_exploration configurations need to be fixed.

Copyright (c) 2019 Giovanni di Dio Bruno under MIT license