IR-Project

Intelligent Robotics project - UniPD - 2023/2024

For start the assignment 1 follow these instructions:

• Open a terminal and go to catkin_ws folder
• Run the command catkin build
• Run the command roslaunch tiago_iaslab_simulation start_simulation.launch world_name:=robotics_library on the first terminal
• Open another terminal and run the command roslaunch tiago_iaslab_simulation navigation.launch
• Open the third terminal go to catkin_ws folder and run rosrun assignment_1 goal_receiver
• Open the fourth terminal go again to catkin_ws folder and run rosrun assignment_1 goal_sender
• Now you can add on the terminal where you run rosrun assignment_1 goal_sender:
  • the coordinate point X (integer of float are booth accepted)
  • the coordinate point Y (integer of float are booth accepted)
  • the orientation (integer of float are booth accepted)
  • Select y if you want to see the real time feedback or n if you are interested only in the final result.
• To stop the program enter q end press ENTER on the terminal where you run rosrun assignment_1 goal_sender

For start the assignment 2 follow these instructions:

• Open a terminal and go to catkin_ws folder
• Run the command catkin build
• Run the command roslaunch tiago_iaslab_simulation start_simulation.launch world_name:=robotics_library on the first terminal
• Wait untill gazebo is loaded correctly (with the scanner light visibile)
• Open another terminal and run the command roslaunch node_a launcher1.launch
• Wait a few seconds for loading all the nodes correctly
• Open the third terminal and run the command roslaunch node_a launcher2.launch