This repository includes the AGV ROS Noetic packages."main" branch is latest version of AGV-OTA.

• agv_description: It is the sub-package containing urdf and mesh files of the AGV.
• agv_simulation: It is a sub-package containing the package and launch files required for the simulation of the AGV.
• agv_navigation: It is a sub-package containing the navigation launch and config files.
• (zozibush) agv_launch: It is a sub-package for launching multirobot
• (zozibush) agv_follow_lane : It's a sub-package for follow lane
• (zozibush) agv_follow_aruco : It's a sub-package for follow aruco
• (zozibush) agv_control : It's a sub-package for control agv to drive

Before using launch commands, you must unzip ~/agv/agv_description/meshes/OTAv07_meshes/OTA-v0.7.tar.xz file..

Gazebo Launching:

roslaunch agv_launch main_multi.launch

ArUco Spawn(id: 0~7):

roslaunch agv_launch spawn_aruco.launch marker_id:=0 x:=0 y:=0 z:=0 P:=0 R:=0 Y:=0

follow_lane:

roslaunch agv_follow_lane follow_lane.launch

follow_aruco:

roslaunch agv_follow_aruco follow_aruco.launch

driving agv(with publishing 'robot_name/control' topic):

roslaunch agv_control agv_control.launch

• In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer.

    $ sudo apt update && sudo apt install ros-noetic-joint-state-publisher-gui
  

• In order for the "joint_state_controller" to work, "joint_state_controller_gui" package must be downloaded to your computer.

    $ sudo apt install ros-noetic-ros-controllers
  

• In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace.

    $ cd ~/catkin_ws/src && git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel
  

• In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your computer.

    $ sudo apt-get install ros-noetic-gazebo-ros-pkgs
  

• In order for the navigation tools to work properly, "ros-navigation" files must be downloaded to your computer.

    $ sudo apt-get install ros-noetic-ros-navigation
  

• In order for the multirobot applications to work properly, "robot_state_publisher" package must be downloaded to your workspace.

    $ cd ~/catkin_ws/src && git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel
  

• submodule update

    $ git submodule update --init --recursive