iqr_jh_robot

jackal + imu + zed2 + d435 + vlp16 + livox

DEPEND

• JACKAL ROS DRIVER
• IMU ROS DRIVER
• ZED2 ROS DRIVER
• D435 ROS DRIVER
• VLP16 ROS DRIVER
• LIVOX ROS DRIVER

How to use

• compile & environment setup

  cd ~/catkin_ws
  catkin build
  source ~/catkin_ws/devel/setup.bash

• start jackal and sensor 's ros driver

  roslaunch iqr_jh_bringup bringup.launch #You can modify this file to activate different sensors.

  then, you can view all of the topic

  rostopic list

• visualization

  roslaunch iqr_jh_description view_robot.launch

• mapping

  roslaunch iqr_jh_navigation mapping.launch viz:=true

• save map

  roscd iqr_jh_navigation/maps
  rosrun map_serve map_save -f [map_name]

• navigation

  roslaunch iqr_jh_navigation navigation.launch viz:=true map_name:=[map_name]