This package contains demo and configuration files for autonomous mapping, navigation and planning with the Husky platform. Sample integrations are provided for the navigation stack, gmapping, and frontier_exploration.
Using the demos requires a running husky_simulator instance, or a remote connection to a live Husky robot. It is recommended to run the demos on the same physical hardware as the robot or simulator, since they require low-latency pub/sub to sensor and control topics. See the Robots/Husky for individual demo instructions.
Unlike the TurtleBot, Husky does not ship with a standard package. Thus, a number of transforms and topics must be made available. Namely, a transform from /odom to /base_link must be available, as must a sensor_msgs/LaserScan topic with a corresponding transform from /base_link to its frame. Sample launchfiles which provide suitable data are available in the husky_localization package.
SLAM Map Building
To build and save a map, follow the same instructions as laid out in the related TurtleBot tutorial, replacing all references to "turtlebot_navigation" with "husky_navigation".
Autonomous Navigation
To navigate around a prebuilt map, follow the same instructions as laid out in the related TurtleBot tutorial, replacing all references to "turtlebot_navigation" with "husky_navigation".
