jdekarske / botpackage Goto Github PK

use this rather than sys.os for launching. Comes with a shutdown and isalive method.
http://wiki.ros.org/roslaunch/API%20Usage

write python script that will generate sdf file with all doors open, then random doors open. Extra credit, ensure goal room has door open.

Create A*/D*lite path generation in 2D space, probably helpful to have convenient input and output data structures

ISSUE
roslaunch can find and tab complete "botpackage" but can not and does not tab complete "Bainer_Hall_FP.launch"

Attempted Code:
roslaunch botpackage Bainer_Hall_FP.launch

ERROR Thrown:
File is neither a launch file in package [botpackage] nor is [botpackage] a launch file name

Attempted Fix:

1. I "catkin_make" my workspace (no errors)
2. sourced 'workspace'/devel/setup.bash (same result)
3. git pulled master to my local to be sure all changes were merged into my local copy

We can speed the sims up a lot by fixing this, otherwise gazebo and rviz has to boot up everytime.

createturtle.py was to "create" a new turtlebot after every waypoint. I successfully set the position in gazebo and rviz. Still need to reset odometry and any other data that could feed to amcl.

Create apf path generation in 2D space, probably helpful to have convenient input and output data structures

Where the input is some sort of discretized path, move turtlebot in gazebo.

http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map

Add necessary sensor-related files to make future modifications to IMU, LiDAR, and camera sensors. Include these in the launch file for compactness.

With a picture copy of the floorplan, use the gazebo tool to draw it. Put doors where they should be in a closed state (explore open door appearance later). Ensure the resulting sdf file has tags for collision and appearance.

This is built in, the hard part is updating the known world for the navigation application

See if you can write a launch file to run the node and have the client query it.

use in separate terminals:

roscore
roslaunch botpackage randommap_node.py
roslaunch botpackage randommapclient.py 50 #argument is the percent of doors open

Do you have to edit the CMakelists.txt file for launch files?

I think this is appropriate http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data