iqr_ptz_robot

jackal + imu + ptz + gps + hokuyo

DEPEND

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]