iqr_miivii_robot

DEPEND

• BUNKER ROS DRIVER
• SCOUT ROS DRIVER
• IMU ROS DRIVER(bunker_imu)
• IMU ROS DRIVER(scout_imu)
• LIDAR ROS DRIVER
• T&H SENSOR DRIVER
• GPS ROS DRIVER

How to use

• compile & environment setup

  cd ~/catkin_ws
  catkin build
  source ~/catkin_ws/devel/setup.bash

• setup

  roscd iqr_4m_bringup/script
  ./init_ptpd.bash  #run once after computer reboot
  ./setup_can0.bash #run once after computer reboot

• start robot and sensor 's ros driver

  roslaunch iqr_4m_bringup bringup.launch #You can modify this file to activate different sensors.

  then, you can view all of the topic

  rostopic list

• visualization

  roslaunch iqr_4m_description view_robot.launch

• mapping

  roslaunch scout_navigation gmapping_demo.launch viz:=true #For scout robot

  OR

  roslaunch bunker_navigation gmapping_demo.launch viz:=true #For bunker robot

• save map

  roscd scout_navigation/maps #For scout robot
  rosrun map_serve map_save -f [map_name] 

  OR

  roscd bunker_navigation/maps #For bunker robot
  rosrun map_serve map_save -f [map_name] 

• navigation

  roslaunch scout_navigation amcl_demo.launch viz:=true map_name:=[map_name] #For scout robot

  OR

  roslaunch bunker_navigation amcl_demo.launch viz:=true map_name:=[map_name] #For bunker robot