Deploying wandering

This software reference deploys the Wandering workflow on a Clearpath Jackal with an RealSense camera. The application uses RTAB-Map and Nav2 to create a map and autonomously explore the environment.

Prerequisites

Complete the Clearpath Robotics Jackal setup and verify motor control before continuing.

Install the Deployment Package

Jazzy

sudo apt update
sudo apt install ros-jazzy-wandering-jackal-tutorial

Humble

sudo apt update
sudo apt install ros-humble-wandering-jackal-tutorial

Run the Deployment

Log in as the administrator user and run:

Jazzy

/opt/ros/jazzy/share/wandering_jackal_tutorial/scripts/wandering_jackal.sh

Humble

/opt/ros/humble/share/wandering_jackal_tutorial/scripts/wandering_jackal.sh

After startup, the robot begins exploring and RTAB-Map builds a map from the RealSense camera input. Stop the workflow with Ctrl-c.

Troubleshooting

For general robot issues, see the troubleshooting guide.