roslaunch mie443_contest2 turtlebot_world.launch world:=1roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/<username>/catkin_ws/src/mie443_contest2/maps/map_1.yaml(Note: an absolute path to the map file is required)roslaunch turtlebot_rviz_launchers view_navigation.launch- Set an initial pose estimate in Rviz
- To localize, move around with teleop until point cloud converges
- To run the keyboard teleop:
roslaunch turtlebot_teleop keyboard_teleop.launch - to send the robot to a pose in rviz, use "2D Nav Goal"
- to measure a position in rviz use "Publish Point"
rosrun mie443_contest2 contest2
*roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/<username>/catkin_ws/src/mie443_contest2/maps/my_map.yaml(Note: an absolute path to the map file is required)roslaunch turtlebot_rviz_launchers view_navigation.launch- Set an initial pose estimate in Rviz
- '''rosrun mie443_contest2 contest2'''
Use the following command to regenerate the compile commands used by VSCode for code linting.
catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=ON && mv build/compile_commands.json src/mie443_contest2
This should be done every time a new file is added to the project. To apply linting in VSCode, add the following line to .vscode/c_cpp_properties.json under the configurations section: "compileCommands": "${workspaceFolder}/compile_commands.json"
From time to time it may be useful to build just a single package in your catkin_ws/src/ directory. To do so, run:
catkin_make --only-pkg-with-deps <target_package>
This sets a variable in CMakeCache.txt that whitelists the package specified. This whitelist persists between calls to catkin_make, and can only be cleared with the following command:
catkin_make -DCATKIN_WHITELIST_PACKAGES=""
To add a new pair of .cpp and .hpp files to the package, add the .cpp file to src/ and the .hpp file to include/. Then, in CMakeLists.txt, append the name of the file to the list of files in the add_executable() line