Running with real SMB

Running on the real SMB

Connect to the robot and start the state estimation and control pipeline. Once it is started, run the planner as done in simulation:

$ roslaunch smb_navigation navigate2d_ompl.launch

It is possible to:

• Tune the planner via the rqt_reconfigure tool ($ rosrun rqt_reconfigure rqt_reconfigure);
• Use all the features described in the page "Running in simulation".

Note: To use the default move_base global planner based on A*, use the launch file navigate2d.launch.