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