ROS::rudra_workstation

Based on how you want to plan the setup, you could run the navigation stack on the rudra_deck (Jetson Nano/NUC) or rudra_workstation (laptop/desktop). I prefer to run the navigation stack on the remote workstation since the navigation package has a lot more CPU-intensive process, and I did not want to load the Jetson Nano since it's running on a battery pack.

Nonetheless, the following steps could be followed either on rudra_deck or rudra_workstation. We will create a separate package for navigation for portability purposes.

Install the Navigation Stack —

sudo apt-get install ros-noetic-navigation

We will set up 3 different configurations in which RUDRA can be operated with the Navigation Stack:

• Navigation in an odometric frame without a map, using only move_base.
• Generating a map using gmapping.
• Localization with a known map using amcl.

1. move_base

Setup your catkin workspace and then follow these steps:-

mdkir rudra_ws
cd rudra_ws
mkdir src
catkin build
cd src
catkin_create_pkg rudra_navigation roscpp std_msgs geometry_msgs message_generation message_runtime
cd ..
catkin build