IRIM 2025 Navigation Challenge simulation framework

• Version 1.0.0

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Package summary

A repository for IRIM-2025 Navigation Challenge. Used for build, test, and deployment for the challenge.

• Maintainer status: maintained
• Maintainers
  • Andrea Pupa
  • Clemente Lauretti

Table of Contents

• Overview
• Installation Steps
• Usage
• Issues

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Overview

• This repository provides a framework and the URDF for the simulation of the challenge
• You can find information about the challenge on the rule page.
• The supported robot for this simulation is the TIAGo Base, which was developed by PAL Robotics.

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Installation Steps

It is assumed that you already have a computer with ROS installed and the required packages for the TIAGo Base.

If not, follow the tutorial on the official ROS website (Noetic) here. Subsequently, install the tutorials package here.

Ypu need also to download and install this repository.

After this, everything should autoinstall with the command:

rosdep install --from-paths src --ignore-src -r -y

Usage

You can run the demo using the launch file:

roslaunch navigation_challenge tiago_base.launch

Wait a certain amount of time and when everything is ready you can move the base by publishing on the topic:

rostopic pub -r 50 /mobile_base_controller/cmd_vel geometry_msgs/Twist "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.1"

Sensor topics:

The robot is endowed with a laser scanner. To see the data, check the topics

/scan_raw

Note:

There is also a launch file for the full Tiago. This requires to install the Tiago package available here.

Extra Documentation

Here you can find the link to the documentation of the robots:

1. TIAGo
2. TIAGo ++
3. TIAGo omni base

Issues:

If you encounter any issues, please contact us at our email address:

• andrea.pupa@unimore.it
• c.lauretti@unicampus.it