Robomuse-4

Autonomous Mobile Robot Platform of IIT Delhi

Setting up the Robot in your laptop:

Clone the repository and copy all the files of src into the src in your catkin workspace.

Build th packages using catkin_make in your catkin workspace.

Copy the shellscripts folder and .sh files into your home directory.

Copy the the arduino libraries into your arduino folder in home directory.

Operating the Robot:

Plug in the usb cables and turn on the switch.

Open the terminal window.

To create a map manually:

Run ./map.sh

Open another terminal window and run rosrun robomuse_drivers teleop.py and maneuver the robot to create a map.

To save the map, open another terminal window and run rosrun map_server map_saver -f "mapname".

To create a map automatically:

Run ./robotstart.sh.

Click MAP button in the GUI to start mapping.

To save the map, open another terminal window and run rosrun map_server map_saver -f "mapname".

To navigate in a created map:

Set the required map in "nav_move_base.launch" and markers in "nav_marker_publish.launch" files and run ./nav.sh.

To navigate for surveillance automatically:

Set the required map in "nav_move_base.launch", markers in "nav_marker_publish.launch" files and the goal values in the corresponding python file.

Run ./robotstart.sh.

Click START button in the GUI.

To move autonomously, press AUTONOMOUS.

To move manually, press TELE-OPERATION.

To close, press TURNOFF.