Multiple goals navigation which is set by YAML file and the goals are send to Move_base with actionclient and Hinge is controlled by conditional loops.
Launch in same order after adding to workspace
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To launch the world roslaunch marker_description marker_world.launch
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To launch rviz+move_base roslaunch marker_description move_base.launch
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To launch multi-navigation-goals multi_goal_driver multi_goal_driver.launch
https://drive.google.com/file/d/1-Ltms2kTFQGwbizYWhXSirhCImQOBE3U/view?usp=sharing
This video is the prototype simulation of trolley carrying from Dispatch point to storage point
Arindam Jain