2018-05-06-navigation-athome

The navigation stack is run on cob1.

Bringup the robot

First export the environment to be used:

export ROBOT_ENV=brsu-C069

Launch the robot:

roslaunch mdr_bringup robot.launch

Launch the navigation node

roslaunch mdr_2dnav 2Dnav.launch

Create navigation goals and orientations

First you need to create the files where goals will be saved:

touch navigigation_goals.yaml
touch orientation_goals.yaml

Localize the robot

In rviz: 1. Select the 2D pose estimate 2. Click the position near the robot 3. Move with joystick 4. Launch navigation tools:

roscd mcr_default_env_config
cd brsu-C069
rosrun mcr_navigation_tools save_base_map_poses_to_file

Teleoperate the robot

In simulaltion

rosrun gazebo_ros gzclient #this should launch automatically
roslaunch mir_teleop teleop_joypad.launch #this should launch automatically

Autonomous

Teleoperate the robot

roslaunch mir_teleop teleop_joypad.launch #this should launch automatically

On the real robot

Run move_base

rosrun mdr_actions move_base_safe
rosrun mdr_actions move_base_safe_client_test.py [source] [dest]

Navigation test

roslaunch mdr_navigation_test

and then run the script inside the folder mdr_navigation_test