mapBot

Inexpensive SLAM mapping robot

Installation

Install ROS and all packages in khan_robot

Connecting to the Beaglebone

in a terminal ssh ubuntu@<beaglebone_ip>

password: temppwd

Setup ROS for multi master use

On your computer

find the ip of your computer using ifconfig and add the following line to you ~/.bashrc, with the ip you found export ROS_IP=<your_computer_ip>

on the beaglebone

in ssh session with beaglebone: export ROS_MASTER_URI=http://<your_computer_ip>:11311

Launching

start roscore on your computer

on beaglebone

This will launch the nodes that control the motors and read odometry info from the encoders

** must be in a sudo shell to run files **

1. type sudo -s to get a sudo shell
2. cd mapBot
3. source devel/setup.bash
4. roslaunch general_khan general_khan.launch

on your computer

This will launch controllers for the robot

1. cd mapBot
2. catkin_make
3. roslaunch khan_robot example_khan_hw.launch

Controlling the robot

the rover can be controlled by a twist msg on the topic /cmd_vel, the khan_robot package has various ways of publishing the message, including rosjoy, rqt_robot_steering, or command line publishing