How To Use

On all the terminals you open, source the ROS:

For ROS Melodic

source /opt/ros/melodic/setup.bash

For ROS Kinetic

source /opt/ros/kinetic/setup.bash
TIP add the above line to your bashrc, so that it is automatically sourced

For Simulation

The package comes with Husarion’s Rosbot Simulator. Here are the steps to use it.

A. Running Navigation with no Map / Navigation to create Map

  1. Create a map using either of these three methods:

    1.1. Manual navigation:

    roslaunch ~/mowito/launch/simulation/sim_mw_mapping.launch

    in another terminal, start the remote control:

    rosrun teleop_twist_keyboard teleop_twist_keyboard

    and use it move the robot around

    1.2. Navigation, by giving goals through the rviz:

    roslaunch ~/mowito/launch/simulation/sim_navigation_with_no_map.launch

    on rviz, give goals on the map, and the robot will move autnomously while creating the map

    1.3. Autonomous goal selection ,throuh Exploration:

    roslaunch~/mowito/launch/simulation/sim_mw_mapping_with_explore.launch

    on rviz you can see the robot automatically moving and exploring the area

  2. Once you are done creating the map on rviz, save the map on a new terminal exeute the following:

    cd && rosrun map_server map_saver -f mymap

    the map (pgm and yaml) is saved in the home directory with the name mymap.pgm and mymap.yaml

B. Running Navigation with a pre-exitsting Map

  1. Place the robot at the origin of map (the place where you started mapping)

  2. Now, for running the entire system with mowito’s controller run

    roslaunch ~/mowito/launch/simulation/sim_mw_navigation.launch

If you want to use the map created in the previous section use this

roslaunch ~/mowito/launch/simulation/sim_mw_navigation.launch map_name:=mymap
  1. In the rviz, click on the second top panel, click on the nav goal option, and click on the displayed map to give goal to the robot
  2. look at the output on the rviz, the path planned and the motion of the robot.

On Real Robot

A. Running Navigation with no Map / Navigation to create Map

  1. create a map using either of these three methods:

    1.1. manual navigation

    roslaunch ~/mowito/launch/run_mw_mapping.launch

    in another terminal, start the remote control

    rosrun teleop_twist_keyboard teleop_twist_keyboard

    and use it move the robot around

    1.2. Navigation, by giving goals through the rviz

    roslaunch ~/mowito/launch/run_navigation_with_no_map.launch

    in another terminal start rviz

    roslaunch ~/mowito/launch/start_rviz.launch

    on rviz, give goals on the map, and the robot will move autnomously while creating the map

    1.3. Autonomous goal selection ,throuh Exploration

    roslaunch ~/mowito/launch/run_mw_mapping_with_explore.launch

    in another terminal start rviz

    roslaunch ~/mowito/launch/start_rviz.launch

    on rviz you can see the robot automatically moving and exploring the area

  2. Once you are done creating the map on rviz, save the map on a new terminal exeute the following

    cd && rosrun map_server map_saver -f mymap

    the map (pgm and yaml) is saved in the home directory with the name mymap.pgm andmymap.yaml

B. Running Navigation with a pre-exitsting Map

  1. Place the robot at the origin of map (the place where you started mapping)

  2. Now, for running the entire system with mowito’s controller run

    roslaunch ~/mowito/launch/run_mw_navigation.launch map_name:=mymap

  3. in another terminal start rviz

    roslaunch ~/mowito/launch/start_rviz.launch

  4. in the rviz, click on the second top panel, click on the nav goal option, and click on the displayed map to give goal to the robot

  5. look at the output on the rviz, the path planned and the motion of the robot.