iqr_zs_robot

DEPEND

• husky
• ur5
• zed2
• d455
• robotiq 85 gripper
• robotiq FT300
• VLP-16
• IMU

How to use

• compile & environment setup

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

• start robot and sensor 's ros driver

  roslaunch iqr_sz_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_sz_description view_robot.launch

• mapping

  roslaunch iqr_sz_navigation gmapping_demo.launch viz:=true

• save map

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

• navigation

  roslaunch iqr_sz_navigation amcl_demo.launch viz:=true map_name:=[map_name]