In this video, we show how to visualize the inflation layer in RViz for ROS (Robot Operating System) Navigation.
Step 1. Create a project in ROS Development Studio(ROSDS)
ROSDS helps you follow our tutorial in a fast pace without dealing without setting up an environment locally. If you haven’t had an account yet, you can create a free account here. Let’s call the project inflation_radius.
Step 2. Clone the simulation
Please clone the husky simulation into the simulation_ws
cd ~/simulation_ws/src
git clone https://bitbucket.org/theconstructcore/husky.git
cd ..
catkin_make
source devel/setup.bash
Then we launch the simulation from Simulations->select launch file->main.launch
You should see the husky robot appear in a room.
We also need to launch the navigation stack with the following command
roslaunch husky_navigation move_base_demo.launch
This launch file will launch the AMCL and movebase package.
Step 3. Visualize the inflation layer
We can visualize the navigation with the Rviz tool with the following command
rosrun rviz rviz
Then we have to open the graphical tool from Tools->geaphical tool. We click add to add Robot model and map in the visualization. In the map visualization, please change the map to global cost map and the color scheme to cost map.
To configure the radius of inflation layer, you have to change the inflation_radius value in the husky_navigation/config/costmap_common.yaml file. You can make the layer small by reducing the value here.
Want to learn more?
If you are interested in this topic, please check our ROS navigation in 5 days course for more information.
Sometimes, your ROS project contains a huge list of launch files that you can barely understand. One launch file launches 3 others, and those launch 4 more, each one with many parameters, arguments and remaps.
In this video, we show you how to quickly understand complex launch files by using RQT (rqt_gui) with a special plugin. We show how to install the plugin and how to use it to analyze the quite strange launch configuration of the Turtlebot simulation.
In this video we show how to use the three different workspaces in ROS Developent Studio.
The three workspaces are: catkin_ws, notebook_ws and simulation_ws
What you will see in this video can be summarized in 3 steps:
1. In the simulation_ws we have used git to clone the following repository: https://bitbucket.org/theconstructcore/sphero
2. In the catkin_ws we have created a package to move the Spero robot.
3. On the notebook_ws we have created an iPython Notebook to move the robot.
The goals of each workspaces are:
1. The simulation_ws is where you put your simulation 2. The catkin_ws is where you put your code that is used to move the robot 3. The notebook_ws is where you must place your iPython Notebook files that is used to move the robot.
In this video we are showing how to provide arguments to a ROS node program made in Python. Sometimes, when you want to launch a ROS program made in Python, you need to provide some arguments to the program, so it can adapt to your specific requirement of the moment.
In this video, we show how to make an Aibo robot move based on the movement file we provide at launch time to the ROS node.
Please, bear in mind the difference between arguments (what we are teaching in this video) and parameters (that is something completely different handled by the ROS param server) .
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