Robot Map Navigation steps

First Step mapping:

1. $ roscore

2. $ roslaunch Drrobot_jaguar4x4_playerplayer+odom.launch and control the Robotuse Joy_stick to test the robot are work we ll

3. Power on the Velodyne vlp-16 laser andtest the network is OK;

* *you need replace the Velodyne host Idwith your computer ID.

4. $roslaunch Velodyne_drivervlp16_2d.launch, and test the laser data is published OK

5. $rosbag Record-a

6. $roslaunch Map_and_localization Gmapping_bag.launch

7. $rosbag Play Mybag--rate 0.5

8. Rosrun Map_server map_saver-f Mymap

If There is some questions, Eg:thevelodyne can not convergence

Catkin_make-dcmake_build_type=release

and edit the Gmapping_bag.launch

<param name= "linearupdate" value= "1.0"/>

<param name= "angularupdate" value= "0.6"/>

<param name= "particles" value= "/>"

The most common environment map models for robots are feature maps, raster maps, topological maps, and mixed maps.

Second Step navigation navigation:

0. $ sudo apt-get installros-jade-navigation

1. $roscore

2. $ roslaunchdrrobot_jaguar4x4_player Player+odom.launch and control the robot use Joy_stick to testthe robot are WO RK Well

3. $roslaunch Velodyne_drivervlp16_2d.launch, and test the laser data is published OK

4. $rosrun Map_server map_server Src/map_and_localization/maps/office.yaml

5. $rviz-D Map_and_localization.rviz//add the addres of Map_and_localization.rviz

6. $roslaunch Map_and_localization Amcl.launch

If static navigation

$roslaunch static_navigation Static_navigation.lauch and need to edit nodes.txt and Edges.txt

Rostopic echo/robot_pose You need to cope the robot pose into Nodes.txt

else dynamicnavigation $roslaunch ros_navigation Ros_navigation.lauch