rosWS

The code for the adc (adcDriver.cpp and adcClient.cpp) in custom_navigation package comes from ros4mat (https://code.google.com/p/ros4mat/).

You need to add some code at the end of your ~/.bashrc file :

export TURTLEBOT_LABEL = robot_NUMBER
export ROS_MASTER_URI = http://MASTER_IP::11311  
export ROS_HOSTNAME = http://OWN_IP  
source /opt/ros/groovy/setup.bash  
export ROS_PACKAGE_PATH= PATH_TO_OVERLAYS_ROS:PATH_TO_CUSTOM_ROS:$ROS_PACKAGE_PATH

Necessary commands in terminal to make the custom navigation system works (each command in separate tabs/windows):

  roscore
  roslaunch turtlebot_bringup minimal.launch
  roslaunch hokuyo_node hokuyo_test.launch
  roslaunch custom_navigation custom_navigation.launch

Additional commands to make a map of the environment:

  roslaunch turtlebot_navigation gmapping_demo.launch
  roslaunch turtlebot_teleop keyboard_teleop.launch
  rosrun map_server map_saver -f /path_where_you_wanna_save_the_map (to do at the end when the map is completed)

Additionnal command to navigate in a known map :

  roslaunch turtlebot_navigation amcl_demo.launch map_file:=/path_where_you_saved_the_map.yaml

Additionnal command to control the robot

  rosrun custom_navigation move_robot

Additional command to visualize the map, robot, path, laser scan, etc.

  export LIBGL_ALWAYS_SOFTWARE=1
  roslaunch turtlebot_rviz_launchers view_navigation.launch (or rosrun rviz rviz and you set everything manually)

Git commands to load submodules :

  git submodule init
  git submodule foreach git pull origin master
  git submodule update

fmder/rosWS

rosWS