Autonomous Trials
To run the maze put the Explore folder in catkin/src
Do a catkin make
open a terminal and run these commands (you also need to source and set turtulebot for every new terminal)
export TURTLEBOT3_MODEL=waffle_pi && source ~/catkin_ws/devel/setup.bash
roslaunch turtlebot3_gazebo turtlebot3_FinalMaze.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_method:=gmapping
roslaunch turtlebot3_navigation move_base.launch
roslaunch explore_lite explore.launch
From here you can watch the robot move along in the maze
Human Trials
To run the maze:
roslaunch turtlebot3_gazebo turtlebot3_FinalMaze.launch
To run Rviz:
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_method:=gmapping
** Turn off laser sensor and map and allow camera feed to be displayed by pressing "add" at the bottom left of RVIZ GUI, ** going into the "By Topic" tab, selecting /camera/rgb/image_raw/camera, then pressing "OK". Drag the window and expand ** to make it easier to see.
To run teleop:
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Then time the user on how long it takes them to find the exit out of the map