Description

Move_Base is a package in ROS which implements its own algorithms to move the "Husky" given a goal. This package also accounts for any obstructions that may be within its of its goal and tries its best to maneuver around it.

INTRO

This guide assumes three things:

1. ROS is setup properly and configured

2. The husky_ws is setup using the previous step and the .bashrc has been setup properly for said workstation

   1. Git (start at the Install Git on Linux section)

3. Mapping

   1. Gmapping
      1. Is a package already installed with ROS
   2. Google Cartographer
      1. If you do wish to use cartographer, make sure the demo runs from the previous step.

STEPS

1. Clone the github repository
   1. <Clone Git Link>
2. This should contain a resources folder as well as a bash script. Run the bash script
   1. <Bash Script to Install Configs> <Bash Script to install more Configs>
3. Once run the environment will be setup correctly. Using the launch files in the previously setup husky directory proceed to run the following:

For Gmapping Run:
roslaunch husky_gazebo <our_launch_file>.launch

For Cartographer:
roslaunch husky_gazebo <our_launch_file>.launch