## repository: http://utexas-art-ros-pkg.googlecode.com/svn
<<PackageHeader(art_run)>>
<<TOC(4)>>

== Utility Commands ==

This package includes some utility commands that are useful for running on the vehicle or working with generated data. See the `art_run/bin` subdirectory for a complete list, it is rapidly evolving.

If you want to run these commands directly from the shell, add this to the end of your `~/.bashrc`:
{{{
ART_RUN=$(rospack find art_run)
if [ "$ART_RUN" != "" ] && [ -d $ART_RUN/bin ]
then export PATH=$ART_RUN/bin:$PATH
fi
}}}


== Launch Files ==

This package includes several launch files for running and monitoring the vehicle. See the `art_run/launch` subdirectory for a complete list.

Examples:

Run pilot Stage simulation using world and RNDF for UT Pickle Research Campus (`prc_large`).
{{{
$ roslaunch art_run pilot_stage.launch
}}}

Control Stage simulation from the keyboard, using world and RNDF for DARPA site visit at Southwest Research Institute (`swri_site_visit`).
{{{
$ WORLD=swri_site_visit roslaunch art_run key_stage.launch
}}}

Run pilot on the car with real servo devices.
{{{
$ roslaunch art_run pilot_drive.launch
}}}

Control pilot on the car using the joystick.
{{{
$ roslaunch art_run joy_drive.launch
}}}



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