Run Instructions

Running the Experiment

Calibrate your VICON system, and place the robot in the test space.

Open a new terminal window and run,

set_indigo
roscore

In a new tab, change directory to where you have the experiment code,

set_indigo
cd pomdp_experiment/launch/
roslaunch vicon_sys.launch

In another tab:

set_indigo
rosservice call /vicon_bridge/calibrate_segment/ deckard deckard 0 100

Then, in a new window, ssh into your robot,

ssh odroid@deckard
roslaunch vicon_nav.launch

Open one more window:

set_indigo
cd pomdp_experiment/src/
python goal_handler.py -s