https://github.com/jkleiber/intro_robotics_ws

Intro to Intelligent Robotics ROS project workspace for D*Lite
https://github.com/jkleiber/intro_robotics_ws

autonomous-navigation autonomous-robots dstarlite pid-controller ros ros-kinetic tourguide turtlebot2 yeet

Last synced: 3 months ago
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Intro to Intelligent Robotics ROS project workspace for D*Lite

• Host: GitHub
• URL: https://github.com/jkleiber/intro_robotics_ws
• Owner: jkleiber
• Created: 2019-02-18T00:44:31.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2019-05-16T04:37:32.000Z (about 6 years ago)
• Last Synced: 2025-02-28T13:18:00.932Z (3 months ago)
• Topics: autonomous-navigation, autonomous-robots, dstarlite, pid-controller, ros, ros-kinetic, tourguide, turtlebot2, yeet
• Language: C++
• Homepage:
• Size: 2.98 MB
• Stars: 5
• Watchers: 2
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.txt

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README

        
INTRODUCTION

------------

Current Maintainers: 	Justin Kleiber 

			Preston Gray 

			Trey Sullivent 

The workspace is for the Major Project for CS4023 at the University of Oklahoma.

GETTING UP AND RUNNING

-------------------------

1. Install ROS Kinetic and Gazebo.

2. Download the workspace to your machine.

3. Run the startup script "setup.bash" in the workspace.

4. Run "source ~/.bashrc" or restart the terminal.

5. Run the launch file with "roslaunch reactive_robot reactive_robot.launch".

6. SSH into the TurtleBot computer, then run “roslaunch turtlebot_bringup minimal.launch --screen” and “roslaunch turtlebot_bringup 3dsensor.launch” in separate terminals.

7. On the master computer, run "roslaunch yeetbotics yeetbotics.launch" and "rosrun yeet_board keyboard_node.py"

DRIVING THE ROBOT

----------------------

$x: The x coordinate of the specified node

$y: The y coordinate of the specified node

The command input can be used to populate nodes in the map by typing "node $x $y -p".

The Turtlebot can be sent to a specific node with "goto $x $y" or "node $x $y -g"

The keyboard node can enter manual rescue mode by typing "raw" and using the following commands: (WARNING: Raw mode may disrupt odometry and decrease localization accuracy.

Direction Control

        w    

   a    s    d

Speed Control

q/e : increase/decrease max speeds by 10%