Sim-to-Real: Virtual Guidance

Introduction

  • 1. Introduction
  • 2. How It Works

Installation

  • 1. ROS
  • 2. ZED camera
  • 3. ORB-SLAM2
  • 4. Control Policy Virtual Environment
  • 5. Perception Environment
  • 6. Navigation Package
    • 6.1. Installation Packages

Usage

  • 1. How to Build a Map
  • 2. Camera
  • 3. Perception Module
  • 4. Localization Module
  • 5. Planner Module
  • 6. Control Policy Module
  • 7. Robot Control

Trainning Procedure

  • 1. How to Train an RL Agent
  • 2. How to Train a Segmentation Model
Sim-to-Real: Virtual Guidance
  • Docs »
  • 6. Navigation Package
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6. Navigation Package¶

6.1. Installation Packages¶

Install turtlebot3.

sudo apt install ros-melodic-turtlebot3

Install turtlebot3_navigation.

sudo apt install ros-melodic-turtlebot3-navigation

Install global_planner.

sudo apt install ros-melodic-global-planner

Install hector_slam.

sudo apt install ros-melodic-hector-slam

Copy the provided pose_tf folder to ~/catkin_ws/src.

Build the workspace.

cd ~/catkin_ws
catkin_make

Replace the turtlebot3_navigation and turtlebot3_bringup folders under ~/opt/ros/melodic/share with the ones provided.

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