| .. _mir_navigation: | |
| Navigation | |
| ############# | |
| On workstation or your PC | |
| ========================== | |
| * To shh the youbot (in all terminals): | |
| .. code-block:: bash | |
| yb4 | |
| .. note:: | |
| alias yb4=ssh -X robocup@youbot-brsu-4-pc2 | |
| * Export the youbot ssh alias | |
| .. code-block:: bash | |
| export_yb4 | |
| .. note:: | |
| alias export_yb4=export ROS_MASTER_URI=http://youbot-brsu-4-pc2:11311 | |
| * Run rviz | |
| .. code-block:: bash | |
| rosrun rviz rviz | |
| Set the global frame to `base_link` | |
| .. _2d_slam: | |
| 2D SLAM | |
| ======== | |
| * Run roscore | |
| .. code-block:: bash | |
| roscore | |
| * Launch the robot | |
| .. code-block:: bash | |
| roslaunch mir_bringup robot.launch | |
| * Run 2D SLAM | |
| .. code-block:: bash | |
| roslaunch mir_2dslam 2dslam.launch | |
| .. note:: | |
| The map is built using the front laser's only | |
| * Run the map saver | |
| Go to the map configuration directory | |
| .. code-block:: bash | |
| 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: | |
| .. code-block:: bash | |
| mkdir [map_name] | |
| cd [map_name] | |
| And then run: | |
| .. code-block:: bash | |
| 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: | |
| .. code-block:: bash | |
| echo $ROBOT_ENV | |
| If you need to change it: | |
| .. code-block:: bash | |
| export ROBOT_ENV=[map_name] | |
| .. note:: | |
| Usually the `.rosc` script is used to set the environment, among other variables. | |
| .. _2d_navigation: | |
| 2D Navigation | |
| ================ | |
| * Bringup the robot | |
| First export the environment to be used: | |
| .. code-block:: bash | |
| export ROBOT_ENV=brsu-C025 | |
| Launch the robot: | |
| .. code-block:: bash | |
| roslaunch mir_bringup robot.launch | |
| * Launch the navigation node | |
| .. code-block:: bash | |
| roslaunch mir_2dnav 2dnav.launch | |
| * Launch the planning bringup | |
| .. code-block:: bash | |
| roslaunch mir_planning_bringup robot.launch | |
| * Create navigation goals and orientations | |
| First you need to create the files where goals will be saved: | |
| .. code-block:: bash | |
| 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 | |
| * Save the navigation and orientation goals | |
| .. code-block:: bash | |
| roscd mcr_default_env_config | |
| cd brsu-C025 | |
| rosrun mcr_navigation_tools save_base_map_poses_to_file | |
| * Test navigation goal using move_base | |
| .. code-block:: bash | |
| rosrun mir_move_base_safe move_base_safe_server.py | |
| rosrun mir_move_base_safe move_base_safe_client_test.py [dest] | |
| * Navigation test using refbox | |
| .. code-block:: bash | |
| roslaunch mir_basic_navigation_test refbox_parser.py | |
| .. _Direct_robot_control: | |
| Direct base controller | |
| ====================== | |
| The direct base controller is used to perform relative motions of the robot with respect to a reference frame. It has an optional feature to stop the motions when obstacles are detected with the laser scanners. | |
| * Bringup the robot | |
| .. code-block:: bash | |
| roslaunch mir_bringup robot.launch | |
| * Launch the direct base controller | |
| .. code-block:: bash | |
| roslaunch mir_direct_base_controller direct_base_controller.launch | |
| * Launch the pose mockup GUI on your PC: | |
| .. code-block:: bash | |
| export ROS_MASTER_URI=http://<robot_ip_address>:11311 | |
| roslaunch mir_direct_base_controller pose_mock_up_gui.launch | |
| A GUI pop up window will appear. | |
| Set the relative pose accordingly in the window (e.g. 0.1 in X to move forward 10 cm). | |
| * Run rviz on your PC: | |
| .. code-block:: bash | |
| export ROS_MASTER_URI=http://<robot_ip_address>:11311 | |
| rviz | |
| Set the 'Fixed Frame' to `odom` | |
| Add a 'Pose' display and set the topic to '/mcr_navigation/direct_base_controller/input_pose' | |
| * Publish an `e_start` event to the direct base controller node | |
| .. code-block:: bash | |
| rostopic pub /mcr_navigation/direct_base_controller/coordinator/event_in std_msgs/String "data: 'e_start'" | |