maalsolami / ICAT

Multi-agent ICAT Start Program

1. Start laser and robot base (on agent)

roslaunch icat_nav laser_bringup.launch namespace:=v1

2. Start edge map server (on server or a single agent for only once)

roslaunch ndt_localizer map_loader.launch

3. Start localization (on agent)

roslaunch ndt_localizer ndt_localizer_client.launch namespace:=v1

Optional Below

4. start visualization for mapping

rosrun rviz rviz -d /home/tby/icat/src/ndt_localizer/cfgs/rock-auto.rviz

Lower can be ignored for now.

3. Start algorithm (on agent)

3.1 draw your own map and save your map file afterwards (under icat_nav/maps folder) (Optional)

roslaunch icat_nav icat_gmapping_ndtodom.launch

3.2 Start navigation (on agent)

roslaunch icat_nav icat_navigation.launch use_rviz:=false map:=map_1

4. Visualize in rviz (on host)

4.1 start visualization for navigation rosrun rviz rviz -d /home/tby/icat/src/icat_nav/rviz/navigate.rviz

4.2 start visualization for mapping rosrun rviz rviz -d /home/tby/icat/src/ndt_localizer/cfgs/rock-auto.rviz

Source code originally developed by yahboomcar.