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README.txt
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README.txt
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INTRO:
This directory has been created by the gpc.pl script and contains
a custom simulation, GAMS controller, algorithms and platforms.
HOW TO:
EDIT YOUR ALGORITHMS:
Open square_patrol.cpp|h with your favorite programming environment / editor.
Each method in your algorithm should be non-blocking or the call will
block the controller. It is in your best interest to poll information from
the environment and knowledge base, rather than blocking on an operating
system call.
EDIT YOUR PLATFORMS:
Open MoveBasePlatform.cpp|h with your favorite programming environment / editor.
Each method in your platform should be non-blocking or the call will
block the controller. It is in your best interest to poll information from
the environment and knowledge base, rather than blocking on an operating
system call.
INSTALL:
Note: this turotiral works only on Ubuntu 16.04. To install GAMS/MADARA use the following commands on the terminal:
export GAMS_ROOT=$HOME/gams
export CORES=4
git clone -b master --single-branch https://github.com/jredmondson/gams $GAMS_ROOT
COMPILE ON LINUX:
$GAMS_ROOT/scripts/linux/base_build.sh prereqs ace madara gams ros
RUN THE SIMULATION:
cd $HOME
git clone https://github.com/marceloparavisi/turtlebot_gams.git
cd $HOME/turtlebot_gams.git
TESTING PATROL
--------------
Each command below must be run in separate terminals:
TERMINAL 1
----------
roscore
TERMINAL 2
----------
roslaunch turtlebot_gazebo turtlebot_world.launch
TERMINAL 3
----------
roslaunch turtlebot_navigation amcl_demo.launch map_file:=$PROJECT_HOME/turtlebot_gams/turtlebotmap3.yaml
TERMINAL 4
----------
roslaunch turtlebot_rviz_launchers view_navigation.launch
TERMINAL 5
----------
cd $HOME/turtlebot_gams
source setup.sh
./action run