SLAM Navigation

ROS.org provides map navigation app in Google Play Store.

ROS wiki

Setup Tank

• It should be connected to Wi-Fi to run this application.

Turn on Tank and you'll see this menu window on the touch screen.

Android App

Here, we describe how to use the SLAM Navigation app.

Enter ROS Master URI

First you can see this screen. Enter ROS Master URI, which is the IP address of the Tank.

Its port number is 11311.

Setup Tank for Navigation

Turn on Tank and you'll see the menu window on the touch screen.

1. IMU Calibration

Touch IMU calibration command and calibrate IMU sensors. Wait a while until calibration is completed.

You'll see this window when calibration is done.

2. Make a Map

Next, push make a map command and move the tank around by using virtual joystick on Android App to make a map.

3. Save a Map

Push save map command after moving around.

4. Navigation

Push navigation command at last.

Navigation

After connecting to the ROS master, you can see the map and camera image like this. The map window and camera image will swap if you touch the up-right window(in this picture, map window).

A blue arrow will appear when you press on the map. You can change the direction by keeping pressing and move it around.

When you release your finger, Tank will move to the position you set.