Ifabot ROS

This Repository contains the ROS components necessary to run the Ifabot robot in the ROS ecosystem. The following packages are available:

Package	Description
robot_board_driver	Encapsulates the driver for the Robot Board
imu_board_driver	Encapsulates the driver for the IMU Board
ifabot_base	Odometry publisher and safetycontroller
ifabot_description	Contains the description file (URDF)
ifabot_navigation	Provides launch files for gmapping (SLAM) and amcl (Localization)

Installation

Create a workspace (skip if you already have one):

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

Get the files:

cd ~/catkin_ws/src
git clone https://github.com/IfabotTUD/Ifabot-ROS.git

Compile:

cd ~/catkin_ws/
catkin_make

Add the following line to the bottom of the file ~/.bashrc :

source $HOME/catkin_ws/devel/setup.bash

Usage

Run individual nodes:

rosrun robot_board_driver robot_board_driver
rosrun imu_board_driver imu_board_driver

Start all nodes for basic Ifabot operation at once (including the ones above):

roslaunch ifabot_base base.launch

Create a map

Run in different consoles:

roslaunch ifabot_base base.launch
roslaunch ifabot_navigation gmapping.launch

Now drive the robot around using some teleop node.

Save the map:

rosrun map_server map_saver -f mymap

Localization in a map

Make sure that amcl.launch refers to the correct map file:

<node name="map_server" type="map_server" pkg="map_server" args="/home/ifabot/mymap.yaml" />

Then run:

roslaunch ifabot_base base.launch
roslaunch ifabot_navigation amcl.launch