Parameter scenarios

Param file	Robot	Sim/Real	World	Sensors	Maps Managers	Localizer	Planner	Controller	Checked
Test1	Kobuki	None	None	None	Dummy	Dummy	Dummy	Dummy	✅
Test2	Kobuki	Sim	House	Laser	Simple	AMCL/Simple	Dummy	Dummy	✅
Test3	Kobuki	Sim	House	Laser	Simple	AMCL/Simple	A*/Simple	Simple	✅
Test4	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation)	AMCL/Costmap	A*/Costmap	Serest	✅
Test5	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation) + Routes	AMCL/Costmap	A*/Costmap	MPPI	✅
Test6	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation)	AMCL/Costmap	A*/Costmap	MPC + Collision	✅
Test7	Summit XL	Sim	URJC Dig	Laser 3D	NavMap	LidarSlam	A*/NavMap	MPC	✅
Test8	Summit XL	Sim	URJC Dig	Laser 3D	Bonxai + NavMap (obstacles + inflation)	AMCL	A*/NavMap	MPC	✅

Install

First get all the required dependencies:

rosdep install --from-paths src --ignore-src -r -y

https://github.com/EasyNavigation/easynav_indoor_testcase/blob/main/robots_params/bonxai.amcl.params.https://github.com/EasyNavigation/easynav_indoor_testcase/blob/main/robots_params/bonxai.amcl.params.urjc.yaml)