#r2d2

##Simple model of the r2d2 robot for ROS/Gazebo.

To run (simulate) the model:

roslaunch r2d2_bringup bringup.launch

To control the model:

rqt

In rqt,

Perspectives->Import-><~/catkin_ws/src/r2d2/r2d2_control/rqt/r2d2.perspective>

To run only in rviz:

roslaunch r2d2_description r2d2_publisher.launch

To examine in rviz while simulating:

rosrun rviz rviz -d src/r2d2/r2d2_description/rviz/r2d2_description.rviz

Joystick control

To control via joystick (teleop) install https://github.com/ros-teleop/teleop_twist_joy

cd ~/catkin_ws/src
git clone https://github.com/ros-teleop/teleop_twist_joy.git
cd ..
catkin_make

Change it appropriately (launch file to use the xbox joy instead of ps3 and config file to send proper maximums) and run:

roslaunch teleop_twist_joy teleop.launch

Building a map

To build a map, run the model, run the teleop control and start saving messages in a bag:

rosbag record -a

Then, walk the robot around to scan the environment. After that, stop everything and (http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData):

roscore
rosparam set use_sim_time true
rosrun gmapping slam_gmapping scan:=/r2d2/laser/scan _odom_frame:=/r2d2/odom _xmin:=-5.0 _xmax:=5.0 _ymin:=-5.0 _ymax:=5.0 _delta:=0.05
rosbag play --clock <name of the bag the you created above >

(You can check the meaning of the gmapping parameters at http://wiki.ros.org/gmapping). Wait for rosbag to finish and exit. Save your new map to disk using map_saver from the map_server package:

rosrun map_server map_saver

Navigation

To navigate the map:

roslaunch r2d2_bringup bringup_office.launch
roslaunch r2d2_navigation move_base.launch
rosrun rviz rviz -d src/r2d2/r2d2_navigation/rviz/navigation.rviz

Learn more about using the ROS navigation stack at http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack