RunningTheRobotWithTheCurrentROSSetup < LCI

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---++ Power-up and devices

   * Main robot power on
   * Robot CPU power on
   * Ensure the laser toggle switch is at state (WHICH ONE WORKS?)
   * Manually power on the Cannon G7 camera (press power button on top, lens will not open until software commands)

---++ Networking setup

   * theakston: 192.168.10.101
   * bart: 192.168.10.10
   * make sure you can ping and ssh to to the robot

---++ User accounts

   * may need to run as dpmeger ... some people know password if needed, please keep that account safe

---++ Hardware drivers, manual control

   * roslaunch powerbot powerbot_teleop.launch
   * Logitech remote joystick should now work to control the robot
      * Left top trigger is dead-man switch
      * Left joystick is for turning
      * Right joystick is for forward and back

---++ Building map of previously unknown place

   * roslaunch 2dnav_powerbot 2dnav_powerbot_local.launch (NOTE: it matters that you put local here, the other one will not work unless a map already exists)
   * resulting files stored as map.yaml in maps dir of 2dnav_powerbot package
   * can move the robot in this mode by joystick control, move the robot around until the map is built
   * (options) a number of autonomous explorer nodes can be selected from -> they live in ubc-ros-pkg/navigation/navigation_goals
   * (option)

---++ Navigation in known map

   * roslaunch 2dnav_powerbot 2dnav_powerbot.launch (NOTE: no local now)
   * Depends on good map that has been created by previous method
   * Does not localize the robot in the map initially, so you must:
      * use rviz to publish /initialpose messages until the robot is nearly localized
      * subscribe to the /base_scan topic and make sure the laser aligns well with the walls
      * when its very close, drive the robot a bit with the joystick or by sending auto-goals until things are nicely converged

---++ Commanding the robot using ROS topics / rviz

   * Switch theakston's ROS master to point at bart
      * export ROS_MASTER_URI=http://bart:11311
   * Subscribe to the map topic (FORGOT WHAT IS SPECIFIC NAME?)
   * Set the goal topic to /most_base_simple/goal (NOTE: ROBOT WILL MOVE AUTOMATICALLY NOW... CAREFUL!) 

-- Main.DavidMeger - 21 Nov 2012
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Topic revision: r1 - 2012-11-21 - DavidMeger