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leo_navigation

This is the curated ROS 1 package in the repository. It keeps the educational parts of the original IGLUNA-inspired rover work in one place:

  • odometry fusion for wheel odometry and IMU data
  • mapping and localization launch files
  • move_base configuration
  • a small waypoint mission that students can read and modify

The goal is not to reproduce every research component from the paper. Instead, it gives students a compact rover-side stack that is easy to run, inspect, and adapt for similar exploration projects.

Older launch names such as study_navigation.launch and mission_leo_rover_simple_nav.launch are still available as compatibility aliases.

Suggested workflow

  1. Start your robot or simulator so /wheel_odom, /scan, and IMU topics are available.

  2. Launch the navigation stack:

    roslaunch leo_navigation exploration_stack.launch

  3. Start the example mission:

    roslaunch leo_navigation waypoint_demo.launch

  4. Edit config/missions/igluna_demo_waypoints.yaml to match your own map and survey route.

Main nodes

message_filter_imu_and_odom.py

Bridges raw IMU and wheel odometry topics into message types expected by robot_localization.

Published topics:

  • imu/data_raw (sensor_msgs/Imu)
  • wheel_odom_with_covariance (geometry_msgs/TwistWithCovarianceStamped)

Key parameters:

  • ~imu_topic
  • ~wheel_odom_topic
  • ~imu_output_topic
  • ~wheel_odom_output_topic
  • ~wheel_odom_covariance_diagonal
  • ~imu_angular_velocity_covariance_diagonal
  • ~imu_linear_acceleration_covariance_diagonal
  • ~imu_orientation_covariance

waypoint_patrol.py

Sends a small sequence of move_base goals. It is intended as an approachable substitute for the broken ad-hoc mission scripts that were previously scattered through the repository.

Key parameters:

  • ~frame_id
  • ~waypoints
  • ~loop_count
  • ~wait_after_goal
  • ~stop_on_failure

Launch files

exploration_stack.launch

Friendly alias for the curated navigation stack.

study_navigation.launch

Starts the recommended student stack:

  • odometry.launch
  • amcl.launch
  • navigation.launch
  • optional example mission

waypoint_demo.launch

Friendly alias for the example mission launcher.

mission_leo_rover_simple_nav.launch

Loads the waypoint file from config/missions/igluna_demo_waypoints.yaml and runs the example patrol mission.

odometry.launch

Starts the IMU and odometry bridge and the EKF from robot_localization.

gmapping.launch

Starts laser SLAM with slam_gmapping.

amcl.launch

Starts map_server and amcl. The map file is configurable through the map_file argument.

navigation.launch

Starts twist_mux.launch and move_base.launch.