This is the navigation and control ROS package for RO1 noetic running in Ubuntu 20.04, created by Komasa in Tsinghua University School of Vehicle and Mobility, THICV research group. This package is used for my masters thesis and HitchOpen AI Racing.
- Ubuntu 20.04 ROS noetic (Tests has not been done in other version of Ubuntu and ROS)
- Python 3.8
- Clone this repo to your catkin workspace src folder
cd ~/catkin_ws/src
git clone https://github.com/KomasaQi/compass_nav_pkg.git
cd ..
catkin_make
- Install dependencies
sudo apt install ros-noetic-ackermann-msgs
sudo apt install ros-noetic-ackermann-drive-msgs
- Source the workspace
source ~/catkin_ws/devel/setup.bash
- Run the package
roslaunch compass_nav_pkg nav.launch
- Run the package in simulation
roslaunch compass_nav_pkg compass_nav_pkg_sim.launch
- Run the package in real robot
roslaunch compass_nav_pkg compass_nav_pkg_real.launch