Master thesis repository for global navigation
This repository contain current state of the art packages listed below to ensure that everything will work in the future after some of the package is being updated.
Used packages:
- https://github.com/swri-robotics/mapviz
- https://github.com/KumarRobotics/ublox
- https://github.com/ros-planning/navigation2
- https://github.com/ros-planning/navigation2_tutorials/tree/master
- https://github.com/ros-perception/pointcloud_to_laserscan
- https://github.com/IntelRealSense/realsense-ros/tree/ros2-development
- https://github.com/bdaiinstitute/spot_ros2
This repository contains changes to the mentioned repositories necessary to perform the task of global navigation using Spot mobile robot. Mobile robot control unit package is intended for ROS2 Humble while the Navigation control unit can be built on ROS2 Iron or newer.
STL models of carriers are placed in equipment carrier folder.