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Tutorials
Robotics: ROS2
Differential Drive Robot
ROS2 Navigation: Basics
Navigation: Sensors
Mapping and Localization
Navigation: Improved project
Navigation: Examples
Waypoint Follower
Navigating with Keepout Zones
Navigating along given path
Go to battery charger
Dock to battery charger - 1
Dock to battery charger - 2
Dock to battery charger - 3
Multiple Robots
Multiple Robots: Traditional approach
Custom Nav Algorithms
Localization and Custom Path
Lines and Markers
Map Editing Utility
Building 2.5d world
Textured 3d mesh from topo map
Adding roads to 3d mesh
First Person View 2.5D world navigation
Navigation in 2.5D world
Kalman Filter
Using Kalman Filter for ROS2 Localization
Simulation with slippage and drift
Robotic Arm
6 DOF Manipulator and Controllers
Gripper
Fixing Gazebo Gripper
Robotics: Hardware
ESP8266
Old Tutorials
Compiling and Running
# Terminal 1:
# echo $ROS_DISTRO
# galactic
# source /opt/ros/galactic/setup.bash
$ cd ~/SnowCron/ros_projects/harsh
$ colcon build --packages-select navigation_bot_07
$ source install/setup.bash
$ ros2 launch navigation_bot_07 main_simulation_launch.py world:=src/worlds/maze.sdf map:='~/SnowCron/ros_projects/harsh/src/maps/map.yaml' slam:=False keepout_mask:=src/maps/keepout_mask.yaml
# Terminal 2:
$ cd ~/SnowCron/ros_projects/harsh/src/navigation_bot_07/scripts
$ python3 waypoint_follower.py
As you can see, we have added an additional command line parameter called keepout_mask. All launch files were modified accordingly, to accept this parameter and to pass it to whatever launch files they call (if any).
