README.md

Intelligent-Robotics-Project-1

CS 4023 Intro to Intelligent Robotics Project 1 Repository

Members

Kichang Song
Ethan Vong

Steps to Run The Project

#1 Clone the Github repository in a suitable location with

git clone https://github.com/Kichlids/Intelligent-Robotics-Project-1.git

Or unpack the zipped project submitted into a suitable location

#2 CD into the project workspace

cd /<Path to project>/Intelligent-Robotics-Project-1/robot-ws

#3 Execute Catkin make

catkin_make

#4 Source the setup.bash file

source devel/setup.bash

#5 Execute the main launch file

roslaunch robot_control robot_control.launch

Use the WASD keys to control the robot in the same terminal that you just ran the previous command.

#6 Execute these commands to view the robot mapping the room

In a separate terminal launch rviz
roslaunch turtlebot_rviz_launchers view_navigation.launch

After mapping you can save the map
rosrun map_server map_saver -f <your map name>

Execute this command to run autonomous pathing with your map (Don’t close the other terminals or programs)
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<full path to your map YAML file>