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PGS Run

Chris Zalidis edited this page Oct 14, 2013 · 4 revisions

Cross your fingers, bring some garlics and run

roslaunch pandora_simulation simulation_go_2013_flat.launch

Then rosrun state_manager state_changer 2 to start the mapping

You are advised to move the robot to the center of the map (until we do this automatically).

Finally rosrun pandora_fsm exploration_only.py

👍

Τhere are some issues in ROS Hydro associated with the sequence of sources and exports in bashrc. The following sequence seems to be working ->

source /usr/share/gazebo/setup.sh source /opt/ros/hydro/setup.bash source ~/catkin_ws/devel/setup.bash source ~/pandora/pandoragit/pandora_communications/devel/setup.bash source ~/pandora/pandoragit/pandora_ros/devel/setup.bash

ROS_PACKAGE_PATH=~/catkin_ws/src:$ROS_PACKAGE_PATH; export ROS_PACKAGE_PATH ROS_PACKAGE_PATH=~/pandora/pandora_gazebo/src:$ROS_PACKAGE_PATH; export ROS_PACKAGE_PATH ROS_PACKAGE_PATH=~/pandora/pandoragit/pandora_communications/src:$ROS_PACKAGE_PATH; export ROS_PACKAGE_PATH ROS_PACKAGE_PATH=~/pandora/pandoragit/pandora_ros/src:$ROS_PACKAGE_PATH; export ROS_PACKAGE_PATH ROS_PACKAGE_PATH=~/pandora/hector_nist_arenas_gazebo:$ROS_PACKAGE_PATH; export ROS_PACKAGE_PATH

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/catkin_ws/devel/lib export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/pandora/pandora_gazebo/devel/lib export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/pandora/pandora_gazebo/src/pandora_gazebo_worlds/models export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/hector_nist_arenas_gazebo/hector_nist_arena_elements

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