This package is a package for ROS2 Humble with the target of implementing Navigation Stack on the robot. Currently the navigation stack in a base configuration is working.

• Set the correct parameter for all the "services" (amcl, costmaps ecc..) of Nav2
• Create a BT that is able to switch between indoor and outdoor navigation
• Implement the "Dead man's switch" using twist_mux: joypad and nav2
• Add controller
• Add linearization
• Add Model Predictive Control

Small staff:

• Fix use_sim_time as default to true -> after edit the launch command
• Add the teleop_joy command.
• Update the use guide

If you don't have set up the Scout Mini for simulation you will need to download also this repositories:

  git clone https://github.com/bascetta74/ugv_gazebo_sim.git
  git clone https://github.com/agilexrobotics/ugv_sdk.git
  git clone -b humble https://github.com/bascetta74/scout_ros2.git

For launching the Gazebo simulation:

  ros2 launch scout_gazebo_sim scout_mini_empty_world.launch.py \
      use_rviz:=false \
      world_name:=<name_of_the_world>.world \
      use_sim_time:=true

You will have to put the correct name of the Gazebo world instead of <name_of_the_world>. Now we can activate the navgiation package.

  ros2 launch scout_navigation nav2.launch.py use_sim_time:=true

Last thing is to activate the teleop for control the system with the joypad

  ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/scout_mini/cmd_vel_key