sudo apt-get install ros-noetic-navigation -y
sudo apt-get install ros-noetic-gmapping -y
sudo apt-get install ros-noetic-robot-localization -y
sudo apt-get install ros-noetic-mavros-msgs -y
sudo apt-get install ros-noetic-velocity-controllers -y
sudo apt-get install ros-noetic-twist-mux -y
sudo apt-get install ros-noetic-teleop-twist-keyboard -y
cd CMPRoboMapper
#____________
catkin_make
#try this if it does not continue and then (catkin_make)
pip install pyparsing==2.4.7
#____________
echo "source ./devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
chmod +x "src/commander/scripts/keyboard_controller.py"
chmod +x "src/commander/scripts/sensor_alignment.py"
chmod +x "src/commander/scripts/mapping.py"source ~/CMPRoboMapper/devel/setup.bash
# for baic simulation
roslaunch commander launch_project.launchsource ~/CMPRoboMapper/devel/setup.bash
# for external keyboard library (prefered as it is more responsive and has more features)
rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/robot/robotnik_base_control/cmd_vel
# for our keyboard controll (req. 1)
rosrun commander keyboard_controller.pysource ~/CMPRoboMapper/devel/setup.bash
# Gazibo and Rviz
roslaunch commander launch_project.launch
# mapping with known pose pyhton Script
rosrun commander mapping.py- To add the occupancy grid map topic (occupancy_grid) to rviz to visualize the mapping.
source ~/CMPRoboMapper/devel/setup.bash
# Gazibo and Rviz
roslaunch commander launch_project.launch
# SLAM pyhton Script
rosrun commander SLAM.py-
To add the estimate map topic (estimate_map) to rviz to visualize the estimate map of the robot.
-
To add the pos topic (estimate_pos) to rviz to visualize the estimate pos of the robot.
-
To add the particles of the MCL topic (particles) to rviz to visualize the particles.
