ROS Run Instructions
File Description and Run Instruction
catkin_make first to build the projects.
bookle_control
rosrun bookle_control bookle_control to control the robot go straight along the line.
bookle_description
The description and urdf files for the robot.
bookle_gazebo
roslaunch bookle_gazebo test.launch to launch the robot together with the environment in the gazebo simulation
General Run
Run/launch bookle_gazebo and bookle_control as descripbed above to open the project.
GMapping
Download the git clone https://github.com/yswhynot/slam_gmapping.git and build the project.
Run with roslaunch gmapping slam_gmapping.launch. This takes input directly from the ros message.
Bookle TF
Trasform TF to Pose rosrun bookle_tf_pub bookle_tf_pub_node
Path Planning
To start the path planning node run rosrun bookle_path_plan bookle_path_plan_node. To feed it with the goal, run the script script/goal_post.sh