Run Simulation and Make Robot Move

1. update vm

$ update-vm

2. launch simulation (double check file name)

$ roslaunch cogrob grand_challenge_sim.launch

3. set goal

$ rosrun cogrob achieve-sim-goals

Note: Anything under managed folder - Don't make any change!!!

To look at more details:

data folder:

sim-domain.pddl has the definitions of locations tasks

( achieve-sim-goals script provides the goal )

sim-map.yaml maps name to coordinates and loaded into ros param server

For editing the map, look at the launch file.

Manually add walls under <!-- Walls -->

Also need to edit the section under <!-- load up the truth map -->

sim-grid.yaml and sim-grid.png

note: look at map-server documentation

script folder:

look at achieve-sim-goals

Run with own plugin

See tutorial:

http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

Add this line to launch file

<param name="base_global_planner" value="global_planner/GlobalPlanner"/>

This will use the pre-written global_planner plugin:

https://github.com/ros-planning/navigation/tree/kinetic-devel/global_planner

When we write our own plugin, it's easier to look at the default navfn planner, which uses the A* algorithm:

https://github.com/ros-planning/navigation/tree/kinetic-devel/navfn

Later, TA will modify launch file which takes parameter of the domain (wait for TA)

In order to make our own launch file, map, plugin, copy things we need to modify out of the managed folder.

Ideally, create own catkin_ws folder with plugin.