🗺️ Exploration

• 🗺️ Exploration
  • 🛞 SMB core software
  • 🧭 Lower Level Planner
  • 🗺️ Exploration with TARE Planner

🛞 SMB core software

Launch the core software on the robot:

# In the terminal of SMB
roslaunch smb smb.launch

🧭 Lower Level Planner

Launch the slam:

# In a new terminal on SMB
roslaunch smb_msf_graph smb_msf_graph.launch

Launch the local planner and path follower:

# In a new terminal on SMB
roslaunch smb_navigation navigate2d_cmu.launch use_msf:=true global_frame:=world_graph_msf state_estimation_topic:=/transformed_odom launch_far_planner:=false

At this stage you should be able to set the local way points for SMB to follow as described in Navigation section.

🗺️ Exploration with TARE Planner

Launch TARE Planner for exploration:

# In a new terminal on SMB
roslaunch smb_exploration smb_rss_tare.launch rviz:=false