Navigation with rviz on Ubuntu

You can also navigate with RViz on Ubuntu.

Tank Setup

Set up Tank before navigation. It is almost the same from that of Android App.

1. IMU Calibration

Touch IMU calibration command and calibrate IMU sensors. Wait a while until calibration is completed.

You'll see this window when calibration is done.

2. Make a Map

Next, push make a map command and move the tank around. You can use mouse_teleop to drive your Tank.

Install mouse_teleop package

$ sudo apt install ros-melodic-mouse-teleop

Run mouse_teleop

The mouse_teleop node publishes its message to the topic mouse_vel by default. You have to remap topic name to cmd_vel.

$ rosrun mouse_teleop mouse_teleop.py mouse_vel:=cmd_vel

3. Save a Map

Push save map command after moving around.

4. Navigation

Push navigation command at last.