Autonomous robot that builds a map of the maze (world), identifes the yellow block and reports the position of this block back by posting a specific marker message.
For the creation of the world it is necessary to modify the GAZEBO_MODEL_PATH in .bashrc: export GAZEBO_MODEL_PATH=~/ros2_ws/src/mobile_robotics_hschoon/meshes
The package "mobile_robotics_hschoon" requires the explore-lite package included in the m-explore-ros2 folder. It is important to use the explore-lite files from this .zip because of modified parameters in the param.yaml. The package can be started via the script "ros_exam_auto.sh" in the autonomous explorer mode (start from ~/ros2_ws directory).
Included in the mobile_robotics_hschoon package are:
- Package.xml and CMakeLists.txt files
- launch directory, including necessary launch files
- urdf directory, including the urdf, sdf and xacro files for your robot
- meshes directory, including any mesh files needed for the robot model
- config directory, including required YAML files
- scripts directory, including any written Python source code files
- worlds directory, including the prepared World file for the task
- rviz directory, including the prepared RVIZ configuration file