#Team 3
Run all nodes using the following command:
roslaunch wall_following_strategy wallFollowingSimulator.launch
rviz -d ``rospack find movement``/rviz/basic.rviz
If you want to change the world for the simulator, please choose between lab-competition01.world, lab-competition02.world and lab-competition03.world(line 11 in wallFollowingSimulator.launch).
Keep in mind that for successful run you need to change halfCircleRadius parameter in wallFollowingSimulator.launch:
- lab-competition01.world has value
0.30 - lab-competition02.world has value
0.25 - lab-competition03.world has value
0.18
For lab-competition01.world you also need to set the minCirclePercentage value to 0.40.
If ROS tells you that no package with the name "lab_simulator" exists, you may have forgotten to source your workspace. Fix it by:
source devel/setup.bash
The robot should then start moving along the first wall it finds, eventually finding the semicircle.
##Testing
For testing you have to be at the workspace root and then you can run test cases by doing the following:
catkin_make run_tests