Instruction graph action server

Based on the work by Andrew Bensen at Carnegie Mellon University. Additions by Anurag Kanungo, Bradley Schmerl and Ekansh Gupta.

Setup

• Clone the project using:

git clone https://github.com/ekanshgupta90/ig_action_server.git

• Move the files to your catkin workspace src directory.

cp -r ./* <catkin_ws>/src/

by default

cp -r ./* ~/catkin_ws/src/

• Make the source file (you need to be in catkin workspace directory):

cd ..

catkin_make

• Add the build files to environment:

source devel/setup.bash

• Run rospack to add the packages to roscd:

rospack depends1 ig_action_server

rospack depends1 ig_action_client

Running

• Run ROS Gazebo

roslaunch turtlebot_gazebo turtlebot_world.launch

• Run AMCL

roslaunch turtlebot_gazebo amcl_demo.launch

• Run Rviz

roslaunch turtlebot_rviz_launchers view_navigation.launch

• Run IG Server

roscd ig_action_server/src
python ig_server.py

• Run IG Client

roscd ig_action_client/src
python ig_client.py instructions/new.ig