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Navigation Using Rviz Tutorial
Description: Navigate using the Oculus Prime Robot, Rviz, and the Oculusprime_Ros PackageTutorial Level: BEGINNER
First, start up the Oculus Prime Server Application (if it isn’t running already). Connect remotely to the robot desktop via a VNC client. Open a terminal window, cd into to your oculusPrime directory, and enter:
./oculusprime.sh
Then, open another terminal on the robot (remotely via 'ssh' or thru VNC) and enter:
roslaunch oculusprime globalpath_follow.launch
This will launch ROS and the navigation stack on the robot. Now switch to your workstation and enter:
rosrun rviz rviz -d `rospack find oculusprime`/dwa_nav.rviz
If everything started up OK, your Rviz window should be showing something like this:
Even if the robot is already in the correct pose on the map, the widely spread mass of green arrows indicates that AMCL doesn’t have a great fix on where it is yet. If the robot is docked, you’re now going to need to use the web-browser client to un-dock and move into a relatively open space.
Now, using the ‘2D Pose Estimate’ tool in Rviz, place an arrow in the approximate position and direction (pose) where the robot is on the map. The robot should react by doing a full circle in place, and the pose array should be much more tightly packed cloud of green arrows.
Finally, you can set a destination pose using the ‘2D Nav Goal’ tool in Rviz. Place the arrow on the map where you want the robot to go, and it should proceed to navigate there. The image below shows the robot proceeding to a goal (represented by a large green arrow) following the generated global path (thin green line).
