j55blanchet/cs169_julienb_pa1

PA1 - CS169

Julien Blanchet | Robotics Perception Systems | 1/21/20

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Requirements

• Run on an Husarion ROSbot
• Ubuntu 16.04 with ROS Kinetic Installed

Setup

This repository is intended to be a single package within a catkin repository. Therefore, you must use an exising catkin workspace or create a new one. Steps for setup:

1. Ensure that your catkin workspace has the following packages installed (these are necessary to control hardware of the robot)

   • rosbot_webui - Clone into your workspace
   • husarion_ros - Clone into your workspace
   • astra_launch - Install using sudo apt-get install ros-kinetic-astra*

2. cd to the src folder of your catkin workspace

3. copy the contents of this repositrory into a folder titled cs169_julienb_pa1 (this will be the package name)

4. Run catkin_make at the root of your workspace.

Running

1. roslaunch cs169_julienb_pa1 moveforward.launch to execute task #1
   • By default, the robot will move 1m forward. You can change this by modifying the distance_m parameter in the launch file.
2. roslaunch cs169_julienb_pa1 datacollection.launch to execute task #2
   • This will start the system. The robot will wait 5s before moving forward 1m at 0.2 m/s. (try to start bagging beforehand).
   • Run roslaunch cs169_julienb_pa1 rosbag_record.launch to start bagging the data. Ctl-C to stop. You probably will need to reindex the bag file after quitting, as it seems not to exit gracefully.
3. roslaunch cs169_julienb_pa1 subscriber_demo.launch to execute task #3
   • Run rviz on your local computer and add /plot_xy as a topic. Make sure the fixed frame is set odom.
   • You can control the robot using keyboard in the terminal that you executed roslaunch.