(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Bringup Copernicus

Description: Enable Copernicus to run psychically in real life

Keywords: Copernicus

Tutorial Level: BEGINNER

The following tutorial illustrates how to use the move_base function with Copernicus. Please read through the Copernicus Operating Guidelines here, before commencing with this tutorial.

Move_base is a function that enables Copernicus to run psychically in real life. This tutorial is classified into 3 different segments: Operating Copernicus without sensors, Operating Copernicus with sensors (Gmapping) and Operating Copernicus with sensors (Autonomous).

Operating Copernicus without Sensors

This segment covers the on how to operate Copernicus without any sensors capability. Copernicus can be controlled either using a joystick or a keyboard.

Instructions:

  • Launch the move_base node by running:
    $ roslaunch copernicus_base copernicus_bringup.launch 
  • This will launch the copernicus_base, teleoperator, localization and tf nodes
  • This robot will be controlled by the joystick
  • To control the robot using a keyboard, launch the move_base node by running:
    $ roslaunch copernicus_base copernicus_bringup.launch keyboard:=true

Operating Copernicus with Sensors (Gmapping)

This segment covers the on how to operate Copernicus and map out an empty environment. For further information regarding on how to map an environment, refer to the tutorial on Mapping an environment with Copernicus.

Instructions:

  • Ensure that the move_base node is up, for more information refer to the section before.
  • Launch the sensors node by running:
    $ roslaunch copernicus_base copernicus_sensors.launch
  • To launch a specific sensor etc; camera or imu or lidar, by running
    $ roslaunch copernicus_base copernicus_sensors.launch <SENSOR_NAME>:=true
  • For example, to activate the camera sensor, launch the sensor node by running:
    $ roslaunch copernicus_base copernicus_sensors.launch camera:=true
  • To perform the gmapping function, launch the navigation package by running:
    $ roslaunch copernicus_navigation navigation.launch gmapping:=true
  • You can visualize the robot by running the following:
    $ rosrun rviz rviz
  • Next, open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool

  • Once the mapping of the entire environment is completed, the map can be saved by running:
    $ roslaunch map_server map_saver –f <filename>

Operating Copernicus with Sensors (Autonomous)

This segment covers the on how to operate Copernicus and utilize its autonomous capability on a mapped environment. For further information regarding on how to run AMCL with Copernicus and how to map an empty environment, refer to Running AMCL with Copernicus and Mapping an environment with Copernicus respectively.

Instructions:

  • Ensure that the move_base node is up, for more information refer to Operating Copernicus without Sensors above.
  • Once the new environment has been mapped, move the map file to the “maps” folder located under copernicus_navigation package
  • In the navigation.launch file, update the name of the map file to the name of the newly saved map
  • Launch the sensors node by running:
    $ roslaunch copernicus_base copernicus_sensors.launch
  • To launch a specific sensor etc; camera or imu or lidar, by running
    $ roslaunch copernicus_base copernicus_sensors.launch <SENSOR_NAME>:=true
    • For example, to activate the camera sensor, launch the sensor node by running:
      $ roslaunch copernicus_base copernicus_sensors.launch camera:=true
  • To perform the autonomous function, launch the navigation package by running:
    $ roslaunch copernicus_navigation navigation.launch
  • You can visualize the robot by running the following:
    $ rosrun rviz rviz 
  • Next, open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool

  • Similar to the Running AMCL with Copernicus tutorial
    • Set up the 2D pose Estimate
    • Use 2D Nav Goals to select a navigation goal in the visualizer

Wiki: Robots/Copernicus/Tutorials/Bringup Copernicus (last edited 2020-06-26 10:41:19 by Botsync)