dashgo D1

Default Branch: slam_02

Author: Yuxiang Gao

Email: yuxianggao96@gmail.com

Demo

Prerequisites

Omitted, use the pre-configured virtual machine.

User: Parallels

pw: eaibot

GMapping

# on dashgo
roslaunch dashgo_nav gmapping_demo.launch
# on the computer
rosrun dashgo_bringup teleop_twist_keyboard.py
roslaunch turtlebot_rviz_launchers view_navigation.launch

Afterwards, save the map using these commands:

roscd dashgo_nav/maps
rosrun map_server map_saver -f my_map

Navigation

Robot Bring-up:

For minimal bingup:

roslaunch dashgo_bringup minimal.launch

For smoother performance:

roslaunch dashgo_bringup bringup_smoother.launch

For obstacle avoidance with sonar sensors (yet to be done) (meiniaoyong):
AMCL :
- Fire up the AMCL:
  
  roslaunch dashgo_nav teb_amcl_demo.launch
- To monitor in rviz (Change the map file in the launch file if needed)(only for testing, if you need to navigate along a route, this can be skipped):
  
  rosrun rviz rviz -d `rospack find dashgo_nav`/rviz/amcl.rviz
  
  or
  
  roslaunch turtlebot_rviz_launchers view_navigation.launch
Voice Command:
- Start AIUI serial communication:
  
  roslaunch aiui_speech voice_nav_commands.launch
- Start Command listener and "turn to" function:
  
  roslaunch aiui_speech dashgo_voice_nav.launch
Navigation:
- Initiate navigation along the designated route:
  
  roslaunch dashgo_nav tb_nav_test.launch
- To monitor in rviz :
  
  rosrun rviz rviz -d `rospack find dashgo_nav`/rviz/nav_test.rviz
Simulation in ArbotiX (requires rbx1 from github):

roslaunch rbx1_nav fake_nav_test.launch

rosrun rviz rviz -d `rospack find rbx1_nav`/amcl.rviz

Web GUI

roslaunch dashgo_gui rosbridge.launch