[Documentation] [TitleIndex] [WordIndex

Welcome to the first lab session of CoTeSys-ROS Fall School!

The challenge of the day will be to get the robot in simulation to navigate to a specific pose. To do that, we will sequence a number of steps:

A more complex application would include moving around in a cluttered room and find the checkerboard autonomously.


Here are some useful tidbits that will help you get around:

roslaunch pr2_teleop teleop_keyboard.launch

rosrun teleop_head teleop_head_keyboard

rosrun image_view image_view image:=/wide_stereo/left/image_rect

Start Simulation

Bring up the robot, in one terminal:

rosmake pr2_navigation
export ROBOT_INITIAL_POSE="-x 3 -Y 3.14"
roslaunch ias_gazebo ros_fallschool.launch

Launch a set of tools in another terminal:

rosmake approach_table_tools
roslaunch approach_table_tools tools.launch

Start Rviz

rosrun rviz rviz

Change Fixed Frame "map" to "odom_combined"

Vizualize the following:

Create Your Package

Create your package, calling it nav_executive, and start developing your own executive:

cd $HOME/ros/sandbox/<group number>

roscreate-pkg nav_executive approach_table_tools actionlib move_base_msgs pr2_common_action_msgs pr2_controllers_msgs drive_base_action

Download the nav_executive.cpp C++ skeleton to start with. It is available by clicking on 'Attachments'. Save the file into the nav_executive package. Add one line to nav_executive/CMakeLists.txt to set it up to compile:

rosbuild_add_executable(nav_executive nav_executive.cpp)

Check that your package builds properly

rosmake nav_executive

Now, open up nav_executive/nav_executive.cpp, look for TODO, and start hacking!


Our solution is: in executive.cpp. Please click on 'Attachments' to retrieve this file.

2022-08-06 12:18