Today
Warmup Project Debrief
What went well, what could be improved (both on my end and your end)? Lessons learned for future projects? Follow up with me via e-mail if you'd rather communicate feedback in that manner.
Mobile Robotics Project Kickoff
Exploring ROS navigation stack:
Dead-reckoning with local obstacle avoidance (from last time)
$ roslaunch neato_simulator neato_tb_playground.launch$ roslaunch neato_2dnav dead_reckoning.launch$ roslaunch turtlebot_rviz_launchers view_navigation.launchSLAM:
$ roslaunch neato_simulator neato_tb_playground.launch$ roslaunch neato_2dnav hector_mapping_neato.launch$ roslaunch turtlebot_rviz_launchers view_navigation.launch$ rosrun teleop_twist_keyboard teleop_twist_keyboard.pyLocalization:
Make sure to edit neato2d_nav/maps/playground.yaml so it points to your playground.pgm file.
$ roslaunch neato_simulator neato_tb_playground.launch$ roslaunch neato_2dnav amcl_builtin.launch map_file:=`rospack find neato_2dnav`/maps/playground.yaml$ roslaunch turtlebot_rviz_launchers view_navigation.launch$ rosrun teleop_twist_keyboard teleop_twist_keyboard.pyPath Planning:
As above, but select various goals using RViz interface