Run Instructions

Running the Experiment

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

Then open a new terminal window and run the following commands to source ROS and your catkin workspace, and add paths:

export ROBOT=$HOSTNAME
source /opt/ros/indigo/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=/home/ian/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/ian/rosbuild_ws/vicon/ros

Alternatively, you can add these commands to your .bashrc file so they will be run every time you open a new terminal window.

After running the above commands 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
cd cops_and_robots/launch
roslaunch vicon_nav.launch

Open one more window:

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