Floor Hugger Launch Scripts

Prep

The following may be necessary. Fix TBD

 sudo chmod 666 /dev/ttyUSB0
 sudo chmod 666 /dev/video0
 sudo chmod 666 /dev/input/js0

Teleop

Teleop robot control

Web teleop and video streaming

Use the joystick teleop control through the wev and generate video streaming over the web.

1. web_teleop.launch
   1. web_motor_control.launch See ROS Bridge Joystick
      1. motor_control.launch See Phidgets Motor Controller Test
   2. web_video_streaming.launch See ROS Video Streaming
      1. usb_video_streaming.launch See Usb cam

Notes

Browse to the robot's joystick control page (use Chrome on Mac)

 http://10.0.0.111/~eepp/js_twist.html

Browse to the robot's video streamer

 http://10.0.0.111:8080/

Teleop with local joystick and no streaming

1. js_teleop.launch See ROS Teleop
   1. motor_control.launch See Phidgets Motor Controller Test
   2. js_motor_control.launch

Teleop with keyboard and no streaming

1. keyboard_teleop.launch See Quigley Gerkey Smart
   1. motor_control_hack.launch See Phidgets Motor Controller Test
   2. key_publisher.py
   3. keys_to_twist_slow.py

• ROS Keyboard Teleop TBD integrate into options

LIDAR Scan

Collect scan, odometry, and transform information

1. scan.launch
   1. odometry.launch See Calibrate Phidgets Odometry
   2. lidar.launch
      1. xv_11.launch See Hood XV 11 ROS Install
      2. tf_laser.launch See Setting up the ROS Transforms
   3. tf_map.launch See Setting up the ROS Transforms

Mapping

Static Survey - Teleop plus Scan - with Static Map Generation

Generate scan, odometry, and transform teleop under teleop control

Web Survey

Use the joystick teleop control and generate video streaming over the web.

1. survey.launch Prep For Gmapping with XV 11 using ROS See Notes
   1. web_teleop.launch
   2. scan.launch

Notes

Browse to the robot's joystick control page (use Chrome on Mac)

 http://10.0.0.111/~eepp/js_twist.html

Browse to the robot's video streamer

 http://10.0.0.111:8080/

Direct Joystick Survey

Use a joystick teleop control connected directly to the robot. No video stream is necessary.

1. js_survey.launch See above and Notes
   1. js_teleop.launch See ROS Teleop
   2. scan.launch See above

Keyboard Survey

These two launch scripts have not been captured into a larger script like the ones above. View this as pick a teleop approach followed by LIDAR scan in another window.

1. keyboard_teleop.launchSee Quigley Gerkey Smart
2. scan.launch See above

Save the Messages

Save the scan, odometry and transform message into the current directory. See Gmapping with XV 11 using ROS

 rosbag record scan odom tf

Generate a Map

In two terminals. See Gmapping with XV 11 using ROS.

1. gmapping.launch

 rosparam set use_sim_time true
 rosbag play --clock <bag name>.bag
 rosrun map_server map_saver

Note

Be sure to set use_sim_time back to false.

Dynamic Survey - Teleop plus Scan - with Dynamic Map Generation

In three terminals:

1. Pick a teleop See Floor_Hugger_Launch_Scripts#Teleop
2. active_mapping.launch See SLAM with XV 11 using ROS
   1. gmapping.launch See Gmapping with XV 11 using ROS
   2. rviz_mapping.launch See SLAM with XV 11 using ROS
3. At any time save off a map Gmapping with XV 11 using ROS
   1. rosrun map_server map_saver

Navigation

1. nav.launch See Navigation Setup