README

namoros

ROS2 nodes for executing namosim plans on real and Gazebo-simulated robots.

System Requirements

  • Ubuntu 22.04

  • ROS2 Humble

Demo

From the root of the repo run

colcon build
source install/setup.bash

Then launch the demo script.

./namoros/launch_demo.sh

Usage

Take a look at the demo script code for more details.

Usage on a Real Robot

The first step to run on a real robot is to prepare the map image and yaml files and the namo-config yaml file.

Note

The units of all namo_planner svg scenario files must be in centimeters!

High-Level Architecture

NAMOROS Architecture

High-Level Internal Operation

NAMOROS Architecture