How seb-sti1/husky_mesh_nav works
Husky Mesh navigation is a ROS package for running mesh-based navigation with a Husky robot, chiefly in simulation, with a documented real-world setup as well. The main workflow is to start the simulation and Move Base Flex server, publish a navigation goal, and let the external navigation stack plan and execute it. Repository evidence identifies launch, map, configuration, and experiment assets, but does not show their internal ROS wiring; links among those assets are therefore omitted. The optional fake-odometry script’s transform behavior is visible in source.
Main entry points: start_experiment.launch Experiment launch · fake_pos.py Fake odometry TF · sim.launch Simulation launch · base_u2is.launch Real base launch
Components 22
Runtime setup
- Simulation launch
launch/sim.launch - Experiment launch
launch/start_experiment.launch - Real base launch
launch/base_u2is.launch - MBF launch
launch/move_base_flex.launch - Hall experiment launch
launch/start_experiment_grand_hall.launch
Navigation inputs
- Move Base Flex goal
World and map assets
- Planner config
configs/default_planner.yaml - Map config
configs/map_config.yaml - Navigation config
configs/nav_config.yaml - Botanical Garden map
maps/botanical_garden_osnabrueck/botanical_garden_osnabrueck.h5 - Grand Hall map
maps/grand_hall/grand_hall.h5 - Botanical Garden world
worlds/botanical_garden.world - Garden mesh model
models/botanical_garden_gazebo.dae - Garden experiment
experiments/botanical_garden_4_dijkstra.bagy - Hall experiment
experiments/grand_hall.bagy
Localization option
- Fake odometry TF
script/fake_pos.py
Other components
- Operator / goal publisher
- Husky simulation
- Mesh navigation server
- Husky robot
- Gazebo ground-truth odometry
- odom to base_link TF
Connections 11
- Operator / goal publisher → Move Base Flex goal: publishes goal
- Move Base Flex goal → Mesh navigation server: submits navigation goal
- MBF launch → Mesh navigation server: starts server
- Simulation launch → Husky simulation: starts simulation
- Experiment launch → Husky simulation: starts simulation
- Experiment launch → Mesh navigation server: starts navigation
- Mesh navigation server → Husky robot: plans and executes
- Real base launch → Husky robot: starts real base
- Hall experiment launch → Husky robot: real-world setup
- Gazebo ground-truth odometry → Fake odometry TF: provides odometry
- Fake odometry TF → odom to base_link TF: broadcasts transform