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TODOS.txt
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### TODOS ###
*
* the new launch file can:
- load a world
- spawn turtlebot
- load a map
- navigate in the world
launch it with the command:
roslaunch project_turtleplan newNav_turtleplan.launch
* study the rosplan structure and inplement it on newNav launch file.
- make an interfaced[..].launch file
* make a new map based on the model:
load world with:
roslaunch turtlebot_gazebo turtlebot_world.launch
see world through rviz with:
roslaunch turtlebot_rviz_launchers view_navigation.launch
start amcl with:
roslaunch turtlebot_gazebo amcl_demo.launch
milestones:
~~~~~~~~~~~
v build a world
v build a launch file to load turtlebot to the world
v map the world and save it
* try navigate in a different world
V make a new world
V map the new world
v try navigate in the new world
* load saved map
- search internet
http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
http://wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Make%20a%20map%20and%20navigate%20with%20it
- bringup turtlebot and map
roslaunch project_turtleplan world_turtleplan.launch
- load world with
roslaunch project_turtleplan world_turtleplan.launch
- load map with
roslaunch turtlebot_navigation amcl_demo.launch map_file:=~/ros_ws/src/project_turtleplan/maps/turtleplan5_map.yaml
- navigate to point in map with
* make a map of the world and save it
V load launch file with:
roslaunch project_turtleplan mapping_turtleplan.launch
V teleoperation of the turtle with:
roslaunch turtlebot_teleop keyboard_teleop.launch
V saved map to project_turtleplan/maps
* improve the mapping
https://answers.ros.org/question/269280/how-to-make-better-maps-using-gmapping/
V make the walls smaller
V add items to map
V make map default in main file
V set the minimum score to 100 in gmapping.launch.xml /
V decrease robot speed
V test again
* change height of the walls to 1.2 m.
DONE
* install and run roscon.
http://wiki.ros.org/turtle_concert/Tutorials/indigo/
* make a map to navigate in it
DONE: http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Make%20a%20map%20and%20navigate%20with%20it
bring up the TurtleBot simulation
roslaunch turtlebot_gazebo turtlebot_world.launch
start map building
roslaunch turtlebot_gazebo gmapping_demo.launch
Use RViz to visualize the map
roslaunch turtlebot_rviz_launchers view_navigation.launch
* change the turtlebot initial location.
DONE: made a new file : kobukiPlan
this file spawns a turtle bot into map in a specific location with the argument turtle_pose.
these files
* make a map.
DONE: has to be in /opt/ros/indigo/share/turtlebot_gazebo/worlds under the name turtleplan.world.
* load this map with world_turtleplan.launch
DONE: change the argument in file main_turtleplan.launch