Santorini Grand Challenge

Overview

This repo contains launch files for the 2019 Cognitive Robotics Santorini Grand Challenge.

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

• Mission Controller

    git clone [email protected]:16412-cogrob-2019/mission_controller.git
  

• MAAS

    git clone [email protected]:16412-cogrob-2019/MAAS.git
  

• EEPP

    git clone [email protected]:16412-cogrob-2019/EEPP.git
  

• MCTS

    git clone [email protected]:16412-cogrob-2019/mctss.git
  

• ROS map_server

    sudo apt-get install ros-kinetic-map-server
  

• [Optional] If you want to use the use_gazebo flag to simulate the turtlebots in gazebo, you will need follow the installation steps at these links to install the turtlebot3_navigation and turtlebot3_gazebo ros packages:

Turtlebot3 Setup + Navigation Stack

Turtlebot3 Gazebo

Usage

To run without Gazebo Sim

1. Run the main launch file

    roslaunch santorini santorini.launch use_gazebo="false" use_map_server:="true"
   

2. To trigger the MAAS node to publish the first set of points, open another terminal and run

    rostopic pub -r 1 /activity/done mission_controller/ActivityDone -f ~/catkin_ws/src/santorini/test/test_done.yaml
   

To run with Gazebo Sim

1. If you want to launch the santorini stack with a gazebo simulation use

    roslaunch santorini santorini.launch use_gazebo:="true" use_map_server:="false"
   

   (Note that the included turtlebot3_navigation starts its own map_server, so we don't need to start another one.)

2. Open rviz, click the 2D Pose Estimate button at the top of the screen, then click on the map to give the robot a good estimate of its initial pose.

3. To trigger the MAAS node to publish the first set of points, open another terminal and run

    rostopic pub -r 1 /activity/done mission_controller/ActivityDone -f ~/catkin_ws/src/santorini/test/test_done.yaml