as_bugs

Bug0 navigation algorithm using lidar-derived range sensors.

Setup

1. Clone the repository

git clone https://github.com/CRTA-Lab/as_bugs.git

2. Build

colcon build --symlink-install

3. Source the workspace

source install/setup.bash

Run

1. Launch Stage simulator

Make sure the workspace where stage_ros2 is installed is sourced before running this step.

ros2 launch stage_ros2 demo.launch.py world:=as_bugs use_stamped_velocity:=false

2. Convert lidar scan to range sensors

ros2 run as_bugs scan2range

3. Run Bug0 navigation node

ros2 run as_bugs bug0

4. Publish a goal pose

ros2 topic pub --once /goal_pose geometry_msgs/msg/PoseStamped "{header: {frame_id: 'odom'}, pose: {position: {x: 15.963, y: 3.068, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: -0.234, w: 0.972}}}"