robot_guide

This ROS repository allows the creation of a map via teleoperation and autonomous driving for a Pioneer P3DX robot, it was tested in the S1 level of Mario Laserna Building in the University of Los Andes.

Setup

You must have ROS Kinetic installed and the RosAria package, available on Ubuntu 16.04.

You must install the most recent version of ROS kinetic and follow the tutorial to install ROSARIA available here.

In case of not finding the libraria installer, it is available in this repository.

Installing

If you haven't done so, create and build a catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Build

Clone this project into the ~/catkin_ws/src folder. Then, build the package by running

cd ~/catkin_ws
catkin_make

Make sure you run the commands source /opt/ros/kinetic/setup.bash and source ~/catkin_ws/devel/setup.bash on every new shell to have access to the ROS environment and to this package (you can add this commands to the .bashrc file for convinience).

Execution

Launch the whole program by locating and running the file robot_control_sim.sh:

. \robot_control_sim.sh

This file starts the ros enviroment and starts a ROS core service. Make sure that the line source /home/XXX//catkin_ws/devel/setup.bash the XXX matches the name of your device. By default is set as:

source /home/francisco/catkin_ws/devel/setup.bash