This package provides a comprehensive simulation and navigation stack for the Rbcar robot model. It integrates the rbcar metapackage and a customized version of the teb_local_planner for precise local path planning and navigation. 📦 Package Contents
rbcar metapackage
Includes all essential components to simulate the Rbcar robot, including:
Vehicle model
Gazebo simulation world
Mapping tools
Localization using AMCL (Adaptive Monte Carlo Localization)
teb_local_planner
A fine-tuned version of the Timed Elastic Band local planner optimized for the Rbcar model, providing smooth and efficient path planning in dynamic environments.
To start the full simulation environment including the Gazebo world, robot model, controllers, and navigation stack, run the following command:
roslaunch rbcar_localization amcl_with_movebase.launchThis will:
Spawn the Rbcar in a simulated Gazebo world
Start all necessary robot controllers
Launch AMCL for localization
Start move_base with the customized teb_local_planner
Once everything is running:
Open Rviz.
Use the "2D Nav Goal" tool to set a target pose within the map.
The Rbcar will plan and follow a path to the goal using the tuned TEB planner.