ICRAI workshop

1. Some Previous Steps

1. Enable the LCAS package repositories:

2. Add the LCAS public key to verify packages:

   curl -s http://lcas.lincoln.ac.uk/repos/public.key | sudo apt-key add -

3. Add the LCAS repository:

   sudo apt-add-repository http://lcas.lincoln.ac.uk/repos/release

4. update your index:

   sudo apt-get update

5. Install the package "uol_cmp3641m" which will install all required packages:

   sudo apt-get install ros-indigo-turtlebot-gazebo

2. Launch Simulation

1. Define TURTLEBOT_GAZEBO_WORLD_FILE:

```export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/indigo/share/turtlebot_gazebo/empty.world```

1. Launch Simulation:

```roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=$(rospack find turtlebot_gazebo)/worlds/empty.world```

1. Launch RVIZ:

``` rosrun rviz rviz ```

1. Keyboard teleop:

``` roslaunch kobuki_keyop keyop.launch ```

2. Create 2D Map

1. run gmapping after all steps in 2:

``` rosrun gmapping slam_gmapping ```

2. Navigate using Move_base:

1. simple version:

``` roslaunch turtlebot_navigation amcl_demo.launch map_file:=/my_2dmap.yaml ```

1. check link: http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map

2. Create Topological Map

TOM check this also needs to be running https://github.com/LCAS/Rusty/blob/indigo-devel/rusty_simulation/scripts/robot_pose_publisher.py

1. Launch MongoDB:

``` roslaunch mongodb_store mongodb_store.launch db_path:=/path/to/mongodb ```

1. Launch Topological Navigation:

``` roslaunch topological_navigation topological_navigation_empty_map.launch map:=Name_of_your_map ```

1. Launch RVIz:

2. Add Interactive markers to edit your map