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
2. scan.launch See above

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

Survey - Teleop plus Scan - with 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

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 2016-04-11-20-28-51.bag
 rosrun map_server map_saver