Exercise 3

• download packages
• download exercise 3
• Get a map of the room
• Save the map
• Run the acml simulation and try to move the robot around by giving him goals

---

• Determine 5 goals locations in the map (can use clicked points)
• Create a script that drives robot to the 5 location sequentially
• End when the robot has reached the final location

1. Create tosrun map_server map_saver -f ~/PROJECT/src/exercise3/maps/map1he room map

roslaunch exercise3 rins_world.launch # Start the 3D simulation

# Build the map of the working environment of the robot.
# Using gmapping package which builds a map based on the laser scan (Kinect)
roslaunch exercise3 gmapping_simulation.launch

# View the map that we are building
roslaunch turtlebot_rviz_launchers view_navigation.launch

# Control the robot with the keyboard via terminal
# Move slowly, stop frequently and rotate around the axis
roslaunch turtlebot_teleop keyboard_teleop.launch

# Once you are satisified with the map, save it
r

2. Navigation

Once the map is built we are ready to let the robot drive itself

• Close all the running programs

roslaunch exercise3 rins_world.launch

# Start the localitzation node amcl (Adaptive MonteCarlo Localization pkg)
# Edit the launch file to use the map that we have created
# <arg name="map_file" default="$(find exercise3)/maps/map1.yaml"/>
roslaunch exercise3 amcl_simulation.launch

# Open a rviz visualizer of the robot
roslaunch turtlebot_rviz_launchers view_navigation.launch

3. Sending movement goals from a node

Script that sends goals to the robot, SimpleActionClient to communicate with the SimpleActionServer that is available in move_base.

rostopic echo /move_base_simple/goal
rostopic echo --noarr /map

4. Exercise 4

roslaunch exercise3 rins_world.launch
roslaunch exercise3 amcl_simulation.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
rosrun exercise4 breadcrumbs
rosrun exercise4 face_localizer_dnn
rosrun exercise4 face_localizer_dlib # Face detection

5. Exercise 5

Debugging (ros console)

# Debug

Useful services for planning (move_base)