ROSNavigation

ROSNavigation

This page describes how to run the ROS navigation stack with USARSim.

Prerequisites

You must have the following ROS packages installed (replace <ros_version> with either fuerte or electric)

common_msgs

 $ sudo apt-get install ros-<ros_version>-common-msgs

teleop_twist_keyboard

This package is available from the brown_remotelab stack. To install the package:

$ sudo apt-get install ros-<ros_version>-brown-remotelab

slam_gmapping

This package is available from the slam_gmapping stack. To install the package:

$ sudo apt-get install ros-<ros_version>-slam-gmapping

control_msgs

This package is available from the control stack control. To install the package:

$ sudo apt-get install ros-<ros_version>-control

arm-navigation

This package is available from the control stack control. To install the package:

$ sudo apt-get install ros-<ros_version>-arm-navigation

USARSim

Please follow the directions on the [USARSimROS] page to get the basic USARSimROS interface up and running. Note that you must make sure that the line \<param name="usarsim/odomSensor" value="InsTest" /> from the usarsim.launch file points to a valid sensor. This means that InsTest must be specified in the .ini file of usarsim on the PC. If unsure if this sensor exists, leave it out. The ROS node will attempt to auto-configure it. If this parameter was ever in your file when you ran the node, then you must restart roscore.

Running the stack

1. Start-up roscore
2. Start-up USARSim on the windows pc
3. Start-up the ROS interface, see [USARSimROS] for more information.
4. Run the tele-op keyboard which should allow you to drive the robot around.:

~~~~~~~~~~~~~~~~~~~~~~~~~~~
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

5. Run the gmapping software:

$ rosrun gmapping slam_gmapping scan:=lms200 _odom_frame:=odom

~~~~~~~~~

1. To see the map, use the map_server package:

$ rosrun map_server map_saver