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README2.md

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README2

Execute everything in different tabs :

  1. To view the model in Gazebo: roslaunch navros_pkg urdf_gazebo_view.launch . Before this launch any of this or your custom environment:

    • To launch a custom cafe environment : roslaunch navros_pkg cafe_custom.launch

    • To launch empty world : roslaunch gazebo_ros empty_world.launch

  2. To control the car with keyboard : rosrun teleop_twist_keyboard teleop_twist_keyboard.py

  3. To view the model in RVIZ (using joint_state_publisher gui): roslaunch navros_pkg urdf_rviz_view.launch

  4. To view kinect sensor readings in RVIZ :

cd catkin_ws/src/navros_pkg/rviz 
rviz -d kinect.rviz

  1. To get laser scan readings : roslaunch navros_pkg pctl.launch

  2. To view laser scan readings in RVIZ :

cd catkin_ws/src/navros_pkg/rviz 
rviz -d laser.rviz

  1. To read the map (slam_gmapping): roslaunch navros_pkg gmapping.launch

  2. To view the map being built in RVIZ ( Move the car around an environment to scan it) :

cd catkin_ws/src/navros_pkg/rviz 
rviz -d map.rviz
  1. To save the map built :
cd catkin_ws/src/navros_pkg/maps
rosrun map_server map_saver -f name_of_map

  1. Shutdown the slam_gmapping node. (Number 7)(Press ctrl+c)

  2. To localise the robot (acml): roslaunch navros_pkg amcl.launch map:='name_of_map'

  3. To perform path planning : roslaunch navros_pkg move_base.launch

  4. To view position and orientation of robot in RVIZ :

cd catkin_ws/src/navros_pkg/rviz 
rviz -d navigate
  • Set initial pose (2D pose estimate).
  • Move the car via teleop keyboard to get more precise localization of the robot.
  • Set goal for the robot in RVIZ (2D Nav goal)
  • Green line indicates the path planned.