Autonomous Path Planning For Radioactive Environments (appfre) using the Bunker Mini robot by AgileX
Ensure you have ros2 installed as described in https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
You will also need to install:
- Nav2
sudo apt install ros-humble-navigation2 sudo apt install ros-humble-nav2-bringup- colcon
sudo apt install python3-colcon-common-extensions - gazebo: Follow instructions at https://gazebosim.org/docs/fortress/install_ubuntu
- gazebo_ros
sudo apt install ros-humble-gazebo-ros-pkgs - xacro
sudo apt install ros-humble-xacro
Clone this repo into the src directory of your colcon workspace
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/bcheshire1/appfre.git
Build the package using colcon from the root of your workspace
cd ..
colcon build --symlink-install
Source the workspace
source install/setup.bash
From the root of your workspace, run an example launch file
ros2 launch appfre launch_nav2.launch.py world:=./src/appfre/worlds/room.world
Then in a new terminal, from the root of your directory again, run the explore.py file to make the robot explore the environment and build up a map using SLAM
python3 ./src/appfre/src/explore.py
Launching the real-world robot code
To run ROS2 on the Bunker Mini robot, launch the launch_robot.launch.py file using:
ros2 launch appfre launch_robot.launch.py