Repository is for the testing of active slam approaches
Install Desktop OS Ubuntu 16.04 LTS
Install Docker-CE using the following instructions
The first time You start the docker, You have to execute the following command
# TO HAVE WIFI network working
docker run -it --name activeslam_dev --net=host -e DISPLAY -e LOCAL_USER_ID=$(id -u) -v /tmp/.X11-unix:/tmp/.X11-unix:rw lyubomyrd/activeslam:latest
docker run -it --name activeslam_dev -p 8080:8080 -p 8090:8090 -p 9090:9090 -e DISPLAY -e LOCAL_USER_ID=$(id -u) -v /tmp/.X11-unix:/tmp/.X11-unix:rw lyubomyrd/activeslam:latest
Next times, please execute
sudo docker start activeslam_dev
The following designation will be used through the rest of the repository
Remote PC: R
Turtlebot(Raspberry): Tx, (x=A,B,C,...)
Turtlebot is controller using ROS which is installed both on PC and Raspberry.
To execute the bringup sequence You have to perform the following steps:
1R) roscore
Connect to RPI (note that IP address might be different - this depends on network settings)
2R) ssh [email protected]
(Password: turtlebot)
Now You have a separeate window inside the terminator that controlles Raspberry, therefore Tx notation corresponds to input into this window.
3TA) roslaunch turtlebot3_bringup turtlebot3_robot.launch
4R) roslaunch turtlebot3_bringup turtlebot3_remote.launch
1R) roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Create a map:
1R) roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Save a map (do NOT close the previous window vefore the next step):
2R) rosrun map_server map_saver -f ~/map
After this step You can close 1R and 2R from mapping.
1R) roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
Type pycharm to run PyCharm-community
See wiki for Troubleshooting