Package demo for ROS navigation in Gazebo usingo Pioneer 3AT. This package was inspired by the Husky navigation tutorials. In this package a Pioneer 3AT is simulated with move_base as the mobile base controller and amcl as localization system.

The source code is released under a MIT license.

Author and Maintainer: Gabriel F P Araujo

The p3at_tutorial package has been tested under Ubuntu 18.04, ROS Melodic and Gazebo 9.

The package depends of the following packages:

sudo apt install ros-melodic-navigation ros-melodic-pr2-description

Config files are in folder config/

• costmap_common.yaml Set all costmap parameters that will be used by any other costmap in this package.
• costmap_global_laser.yaml Configure the laser costmap.
• costmap_global_static.yaml Configure the costmap produced by the static map.
• costmap_local.yaml Configure the costmap produced by the local map.
• planner.yaml Set the configuration of the used planners.

• Demo without map In two terminal windows:

Start the Pioneer 3AT simulation environment:

roslaunch p3at_tutorial pioneer3at.gazebo.launch

Start the move_base demo:

roslaunch p3at_tutorial move_base_mapless_demo.launch

• Demo localization with map In two terminal windows:

Start the Pioneer 3AT simulation environment:

roslaunch p3at_tutorial pioneer3at.gazebo.launch

Start the amcl demo:

roslaunch p3at_tutorial amcl_demo.launch

Randomly choose a pose in 10x10 square and send this pose to move_base as goal

rosrun p3at_tutorial random_walk