!

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.

Robot bring-up

When turning on the robot, first turn on the rover power supply using the rover switch and then turn on the sensors power supply using the sensors switch. then, press on the computer button, which located near the sensors switch. one press is enough! the led indicator will turn on after a few seconds.

In order to bring up your robot launch your robot main launch file. Open a new terminal (Ctrl+Alt+t) and run:

$ roslaunch komodo2 komodo2.launch

Thats it, your robot is up!

By default not all sensors and capabilities are initiated with the above launch command. In order to select the sensors and capabilities you want to initiate you can add arguments to the above launch command.

Sensors

• lidar – Laser scanner sensor.

• depth_cam – The realsense d435 RGB-D camera.

• rgb_cam– The Microsoft usb camera.

capabilities selection

• gmapping - Setting this argument to 'true' will enable using the OpenSlam's Gmapping SLAM algorithm.

• hector_slam - Setting this argument to 'true' will enable using the hector_slam SLAM algorithm.

• amcl - Setting this argument to 'true' will enable using amcl - probabilistic localization system. Requires to set have_map to true and set the path to the pre-saved map file with map:="path/to/map/file.yaml". Also, when using localization you can specify initial location in the map by setting x, y and Y (yaw) arguments. eg. amcl:=true have_map:=true map:="path/to/map/file.yaml" x=x0 y=y0 Y=Y0

  • gmapping, hector_slam and amcl requires to add lidar:=true for using the laser scanner and move_base:=true to use navigation move_base capability.

*gazebo - Setting this argument to 'true' will load the Gazebo simulation environment and bring-up the robot. See the Bring-up a robot in the gazebo simulation environment tutorial for more details and extra related arguments.

For example, if you want to launch the robot with the head camera and laser scanner, use the following command:

$ roslaunch komodo2 komodo2.launch lidar:=true rgb_cam:=true

Note: The order for the arguments doesn't matter.