Navigation

On workstation or your PC

To shh the youbot (in all terminals):
```
yb4
```
Note

alias yb4=ssh -X robocup@youbot-brsu-4-pc2
Export the youbot ssh alias
```
export_yb4
```
Note

alias export_yb4=export ROS_MASTER_URI=http://youbot-brsu-4-pc2:11311
Run rviz
```
rosrun rviz rviz
```
Set the global frame to base_link

2D SLAM

Run roscore
```
roscore
```
Launch the robot
```
roslaunch mir_bringup robot.launch
```
Run 2D SLAM
```
roslaunch mir_2dslam 2dslam.launch
```
Note

The map is built using the front laser’s only
Run the map saver

Go to the map configuration directory
```
roscd mcr_default_env_config
```
By using ls you can see several folders corresponding to existing environments. You can either use an existing map or create a new one:
```
mkdir [map_name]
cd [map_name]
```
And then run:
```
rosrun map_server map_saver
```
This will create two files: a map.pgm and map.yml.

Finally, to use the map that you just created you need to check which map will be loaded by the navigation stack:
```
echo $ROBOT_ENV
```
If you need to change it:
```
export ROBOT_ENV=[map_name]
```
Note

Usually the .rosc script is used to set the environment, among other variables.

2D Navigation

Bringup the robot

First export the environment to be used:
```
export ROBOT_ENV=brsu-C025
```
Launch the robot:
```
roslaunch mir_bringup robot.launch
```
Launch the navigation node
```
roslaunch mir_2dnav 2dnav.launch
```

Launch the planning bringup

roslaunch mir_planning_bringup robot.launch

Create navigation goals and orientations

First you need to create the files where goals will be saved:
```
touch navigation_goals.yaml
touch orientation_goals.yaml
```
Localize the robot

In rviz:
1. Select the 2D pose estimate
2. Click the position near the robot
3. Move with joystick
4. Launch navigation tools in yb2

Save the navigation and orientation goals

roscd mcr_default_env_config
cd brsu-C025
rosrun mcr_navigation_tools save_base_map_poses_to_file

Test navigation goal using move_base

rosrun mir_move_base_safe move_base_safe_server.py
rosrun mir_move_base_safe move_base_safe_client_test.py [dest]

Navigation test using refbox

roslaunch mir_basic_navigation_test refbox_parser.py

Direct base controller

The direct base controller is used to perform relative motions of the robot with respect to a reference frame. It has an optional feature to stop the motions when obstacles are detected with the laser scanners.

Bringup the robot

roslaunch mir_bringup robot.launch

Launch the direct base controller

roslaunch mir_direct_base_controller direct_base_controller.launch

Launch the pose mockup GUI on your PC:

export ROS_MASTER_URI=http://<robot_ip_address>:11311
roslaunch mir_direct_base_controller pose_mock_up_gui.launch

A GUI pop up window will appear. Set the relative pose accordingly in the window (e.g. 0.1 in X to move forward 10 cm).

Run rviz on your PC:
```
export ROS_MASTER_URI=http://<robot_ip_address>:11311
rviz
```
Set the ‘Fixed Frame’ to odom Add a ‘Pose’ display and set the topic to ‘/mcr_navigation/direct_base_controller/input_pose’
Publish an e_start event to the direct base controller node

rostopic pub /mcr_navigation/direct_base_controller/coordinator/event_in std_msgs/String "data: 'e_start'"