This package contains the base maps and launches upon which the other stage demos are built. Please look to the other demos in this repository for demonstrations of different planning and execution tools with ROSPlan.
The package contains:
- An example launch file for a robot simulation in Stage.
- An example launch file for two robots in simulation in Stage.
- Stage world files, maps, and configuration files.
The demo has been tested with ROS melodic.
The demo launches a Stage simulation with the following components:
- stageros simulation node.
- map_server which offers map data (http://wiki.ros.org/map_server)
- turtlebot3_bringup scripts for starting the robot (http://wiki.ros.org/turtlebot3_bringup)
- move_base (http://wiki.ros.org/move_base) and amcl (http://wiki.ros.org/amcl) for navigation.
- rviz for visualisation.
Fetch the required dependencies:
sudo apt install ros-${ROS_DISTRO}-turtlebot3-navigation ros-${ROS_DISTRO}-move-base-msgs ros-${ROS_DISTRO}-dwa-local-planner
Install all the required packages in your catkin workspace:
cd ~/ros_ws/src
git clone https://github.com/clearpathrobotics/occupancy_grid_utils
git clone https://github.com/KCL-Planning/rosplan.git
git clone https://github.com/KCL-Planning/rosplan_demos.git
Compile the code:
catkin build
- Export the Turtlebot3 configuration
Also remember to source the workspace.
export TURTLEBOT3_MODEL=waffle
source devel/setup.bash
- Launch the demo
Begin the simulation and rviz visualisation:
roslaunch rosplan_stage_demo empty_stage_single_robot.launch
or for two robots:
roslaunch rosplan_stage_demo empty_stage_multi_robot.launch
Optionally, set an argument to also open RVIZ:
roslaunch rosplan_stage_demo empty_stage_multi_robot.launch use_default_rviz:=true