# 2018-05-06-navigation-atwork

Note : For simulation please check [simulation\_mapping.md](https://github.com/b-it-bots/wiki/tree/021d5ee127ac33c704fd5bbda1545cbcdf191bdc/guides/domains/navigation/simulation_mapping.md)

Export the youbot ssh alias

```
export_yb2
```

To shh the youbot (in all terminals):

```
yb2
```

this is the alias to connect to the youbot

Run roscore

```
roscore
```

Launch the robot

```
roslaunch mir_bringup robot.launch
```

Run rviz

```
rosrun rviz rviz
```

Set the global frame to `base_link`

### Launch SLAM

```
roslaunch mir_2dslam 2dslam.launch
```

Note: the map is built using the front laser's only

### Run the map saver

Go to the folder with the map `roscd mcr_default_env_config`

By using `ls` you can see several folders corresponding to existing environments. You can either use an existing map or create a new one:

```
mkdir [map_name]
```

Before running the map\_saver you need to be located in the environment folder:

```
cd [map_name]
```

And then run:

```
rosrun map_server map_saver
```

This will create two files: a `map.pgm` and `map.yml`.

Finally, to use the map that you just created you need to check which map will be loaded by the navigation stack:

```
echo $ROBOT_ENV
```

If you need to change it:

```
export ROBOT_ENV=[map_name]
```

Note: Usually the `.rosc` script is used to set the environment, among other variables.

## Navigation

#### Bringup the robot

First export the environment to be used: `export ROBOT_ENV=brsu-C025`

Launch the robot:

```
roslaunch mir_bringup robot.launch
```

Launch the navigation node

```
roslaunch mir_2dnav 2Dnav.launch
```

### Create navigation goals and orientations

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

```
touch navigation_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 (in yb2)

```
roscd mcr_default_env_config
cd brsu-C025
rosrun mcr_navigation_tools save_map_poses_to_file
```

Run move\_base

```
rosrun mir_move_base_safe move_base_safe_server.py
rosrun mir_move_base_safe move_base_safe_client_test.py [source] [dest]
```

### Navigation test

```
roslaunch mir_basic_navigation_test refbox_parser.py
```