naviton_navigation

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naviton_navigation

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Navigation system for outdoor mobile robot

// repository documentation

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# naviton_navigation
Navigation system for outdoor mobile robot.

[gh-page](https://kobekosenrobotics.github.io/naviton_navigation/md_README.html) generated by doxygen.

## Requirements
* Ubuntu 20.04
* ROS Noetic
* nvidia driver
* docker (optional)
* nvidia docker (optional)

## 1. Setup 
### Recommend
```bash
cd ~/catkin_ws/src
git clone https://github.com/KobeKosenRobotics/naviton_navigation.git
./naviton_navigation/setup.bash
```
or

### Manual
```bash
sudo apt update
sudo apt install -y python3-vcstool
cd ~/catkin_ws/src
git clone https://github.com/KobeKosenRobotics/naviton_navigation.git
cd naviton_navigation
vcs import depend < depend_packages.repos --recursive
cd ../..
rosdep install -i -y --from-paths src
catkin build
```
or

### Docker
#### Requirements
* docker
* nvidia docker
```bash
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/KobeKosenRobotics/naviton_navigation/main/docker/naviton/run.bash)" -g
```

When you exit and go out of the container, naviton_navigation.bash is created in the home directory.   
From the second time on, use the following command.
```bash
./naviton_navigation.bash
```

## 2. Demo
```bash
cd ~/catkin_ws
source devel/setup.bash
roslaunch nvt_core demo.launch
```
## Demo Video
https://github.com/KobeKosenRobotics/naviton_navigation/assets/36100321/c58cbdbf-f6b8-45e3-b195-c564d12e2b42

https://github.com/KobeKosenRobotics/naviton_navigation/assets/36100321/857a1c53-bb76-4593-a6b9-b16d21827c23

## Cite *Navit(oo)n*

Thank you for citing [our paper](https://www.fujipress.jp/jrm/rb/robot003500061540/) if you use any of this code: 
```
@article{naviton2023,
  title={Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge},
  author={Hara, Shunya and Shimizu, Toshihiko and Ozawa, Masayoshi and Sakai, Masahiko and Oyama, Tadahiro and Samuel, Amar Julien},
  journal={Journal of Robotics and Mechatronics},
  volume={35},
  number={6},
  pages={1540--1549},
  year={2023},
  publisher={Fuji Technology Press Ltd.}
}
```

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