InfoMagNav

This package runs the Information Driven Magnetic Navigation Method. This package is designed to work with a TurtleBot4 and or simulation depending on how it is setup

ROS 2 Setup

To setup the ROS 2 parts of the system, the following needs to be completed on the ROS 2 system. First create a workspace magnav_ws.

mkdir -p magnav_ws/src

Then go ahead and pull the code into the src folder inside magnav_ws.

git clone http://github.com/aprilab-uf/info_magnav.git

You will also likely need the particle filter and robot simulator package which can be pulled:

git clone https://github.com/aprilab-uf/magnav_pf.git && git clone https://github.com/aprilab-uf/robot_simulator.git

Build the workspace using colcon

colcon build

Then source the workspace. Your current directory should be ~/magnav_ws

source install/setup.bash

You can then launch the simulated environment using

ros2 launch info_magnav info_magnav.launch.py w_info:=$(W_INFO)

where W_INFO should be a float >=0.0.