ROS V-rep simulation package for Mechanum-wheeled mobile robot
http://wiki.ros.org/ROS/Installation
http://www.coppeliarobotics.com/downloads.html
This package uses the python 2.7 version of Casadi https://web.casadi.org/get/
- ROS-melodic
sudo apt install ros-melodic-navigation
git clone https://github.com/ros-perception/openslam_gmapping ~/catkin_ws/src/openslam_gmapping
git clone https://github.com/ros-perception/slam_gmapping ~/catkin_ws/src/slam_gmapping- ROS-kinetic
sudo apt-get install ros-kinetic-navigation ros-kinetic-gmappingsudo apt-get install ros-${ROS_DISTRO}-robot-localizationsudo apt-get install ros-${ROS_DISTRO}-cartographer-roshttps://google-cartographer-ros.readthedocs.io/en/latest/compilation.html
https://github.com/MLCS-Yonsei/teb_local_planner
TEB local planner w/ kinematic constraints for Mecanum-wheeled mobile robot
roslaunch vrep_holonomic_bringup bringup.launch vrep_path:=/path/to/vreproslaunch vrep_holonomic_slam gmapping.launchroslaunch vrep_holonomic_slam cartographer_slam.launchroslaunch vrep_holonomic_slam amcl.launchroslaunch vrep_holonomic_slam cartographer_navigation.launchroslaunch vrep_holonomic_mpc mpc_ms.launch casadi_path:=/path/to/casadiroslaunch vrep_holonomic_mpc mpc_ss.launch casadi_path:=/path/to/casadilaunch bringup with vrep_scene_file:= argument
- Environment 1 scene file:
vrep_holonomic_bringup/scenes/test_1.ttt - Environment 2 scene file:
vrep_holonomic_bringup/scenes/test_2.ttt - Environment 3 scene file:
vrep_holonomic_bringup/scenes/test_3.ttt
launch amcl with map_file:= argument
- Map file:
vrep_holonomic_slam/maps/test.yaml
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