iqr_ptz_robot

jackal + imu + ptz + gps + hokuyo

DEPEND

• JACKAL ROS DRIVER
• IMU ROS DRIVER

How to use

• compile & environment setup

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

• start jackal and sensor 's ros driver

  roslaunch iqr_ptz_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_ptz_description view_robot.launch

• mapping

  roslaunch iqr_ptz_navigation mapping.launch viz:=true

• save map

  roscd iqr_ptz_navigation/maps
  rosrun map_serve map_save -f [map_name]

• navigation

  roslaunch iqr_ptz_navigation navigation.launch viz:=true map_name:=[map_name]