mie443_contest2

Simulation Launch Instructions

• Set log file paths for contest2_log.txt, vision_log.txt, and scene images:
  • In src/contest2.cpp update RESULT_DIR macro with the desired directory path /path/to/dir/ for the contest log.
  • In include/image_pipeline.h update VISLOG_DIR macro with the desired directory path /path/to/dir/ for the vision log and scene images.
• roslaunch mie443_contest2 turtlebot_world.launch world:=1
• roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/<username>/catkin_ws/src/mie443_contest2/maps/map_1.yaml (note: an absolute path to the map file is required)
• roslaunch turtlebot_rviz_launchers view_navigation.launch
• Set an initial pose estimate in rviz:
  • To localize, move around with teleop until point cloud converges.
  • To run the keyboard teleop: roslaunch turtlebot_teleop keyboard_teleop.launch.
  • To send the robot to a pose in rviz, use "2D Nav Goal".
  • To measure a position in rviz use "Publish Point".
• rosrun mie443_contest2 contest2