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INTRODUCTION ------------ Current Maintainers: Justin Kleiber <[email protected]> Preston Gray <[email protected]> Trey Sullivent <[email protected]> The workspace is for the Major Project for CS4023 at the University of Oklahoma. GETTING UP AND RUNNING ------------------------- 1. Install ROS Kinetic and Gazebo. 2. Download the workspace to your machine. 3. Run the startup script "setup.bash" in the workspace. 4. Run "source ~/.bashrc" or restart the terminal. 5. Run the launch file with "roslaunch reactive_robot reactive_robot.launch". 6. SSH into the TurtleBot computer, then run “roslaunch turtlebot_bringup minimal.launch --screen” and “roslaunch turtlebot_bringup 3dsensor.launch” in separate terminals. 7. On the master computer, run "roslaunch yeetbotics yeetbotics.launch" and "rosrun yeet_board keyboard_node.py" DRIVING THE ROBOT ---------------------- $x: The x coordinate of the specified node $y: The y coordinate of the specified node The command input can be used to populate nodes in the map by typing "node $x $y -p". The Turtlebot can be sent to a specific node with "goto $x $y" or "node $x $y -g" The keyboard node can enter manual rescue mode by typing "raw" and using the following commands: (WARNING: Raw mode may disrupt odometry and decrease localization accuracy. Direction Control w a s d Speed Control q/e : increase/decrease max speeds by 10%
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Intro to Intelligent Robotics ROS project workspace for D*Lite
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