[rover_nav] Navigation by Costmap

Setup

1. Clone the repo as well as rover_sim
2. Build and source
3. In rover_sim/launch/simulation_joy.launch replace
   <arg name="rvizconfig" default="$(find rover_config)/rviz/qr_detection.rviz" />
   by <arg name="rvizconfig" default="$(find rover_config)/rviz/nav.rviz" />.

Testing

To test the Navigation use roslaunch rover_sim simulation_joy.launch. This will launch the Simulation, including a representation in rviz and Gazebo. Open a new Terminal, and execute roslaunch rover_nav rover_navigation_fake_loc.launch. The costmap will now be visible in rviz. Furthermore, the interface for defining a navigation goal is available. Simply click on the button 2D Nav Goal and choose a white (= passable) area on the costmap as destination. Click on this spot and drag the cursor in one direction, to define the final orientation of the rover as well.