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Installation instructions for IPA navigation
This installation instruction will only work for Care-O-bots following the setup structure described in https://github.com/ipa320/setup/raw/master/manual/Care-O-bot_manual.pdf on Ubuntu 10.04 32/64bit.
Save old Configuration
Please be sure to make a backup of all *.ini-files in
Download and extract tarball
Extract the tarball into the following directory which should be in your ROS_PACKAGE_PATH: /u/robot/git/care-o-bot
cd /u/robot/git/care-o-bot wget http://www.care-o-bot-research.org/datasets/ipa-navigation/cob_navigation_intern-electric-lucid64.tar.gz tar -xvf cob_navigation_intern-electric-lucid64.tar
Compare backup'ed *ini-files with new ones
Compare the ini-files from your backup with the ones that are now located in
If there are no differences, fine.
If there are differences, replace those files with the ones from your backup and send the backup'ed files to IPA as well.
Startup the IPA navigation using the launch files in cob_navigation_global
roslaunch cob_navigation_global 2dnav_ipa_extloc.launch
You can command something to the navigation as usual, either through sending a move_base action, through the simple_script_server or through rviz.