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Add build map docs #1375

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merged 2 commits into from
Apr 26, 2022
Merged

Add build map docs #1375

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a8a1365
move robot_localization in fetch.launch
knorth55 Dec 14, 2020
185fe0e
add build map docs
Kanazawanaoaki Aug 23, 2021
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18 changes: 18 additions & 0 deletions jsk_fetch_robot/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -256,6 +256,24 @@ coordinates can be made with
```
Please see [costmap_2d](http://wiki.ros.org/costmap_2d?distro=melodic), [move_base](http://wiki.ros.org/move_base?distro=melodic), if you would like to understand the self-positioning system in detail.

### Build Map

- Stop jsk_fetch_startup on the supervisor

- Launch slam program

```
roslaunch jsk_fetch_startup fetch_bringup.launch use_build_map:=true launch_move_base:=false
```

- You can see built map(`/map`) on Rviz

- Make map_directory and save map

```
rosrun map_server map_saver -f <map_directory/map_name>
```

### Speak

- Use text-to-speech engine to speak text
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21 changes: 4 additions & 17 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
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Expand Up @@ -193,12 +193,6 @@
<arg name="odom_topic" value="/odom_combined" />
</include>

<!-- slam for build a map -->
<node pkg="slam_karto" type="slam_karto" name="slam_karto"
output="screen" if="$(arg use_build_map)" >
<remap from="scan" to="base_scan"/>
</node>

<!-- load amcl params -->
<rosparam command="load"
file="$(find jsk_fetch_startup)/launch/navigation/fetch_amcl_common_params.yaml" />
Expand All @@ -211,17 +205,10 @@
file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
</group>

<!-- /imu has no frame_id information and there is no bug fix release in indigo. -->
<!-- see https://github.com/fetchrobotics/fetch_ros/issues/70 -->
<node name="imu_corrector" pkg="jsk_fetch_startup" type="imu_corrector.py">
<remap from="~input" to="/imu" />
<remap from="~output" to="/imu_corrected" />
</node>

<!-- /odom has no covariance value. -->
<node name="odom_corrector" pkg="jsk_fetch_startup" type="odom_corrector.py">
<remap from="~input" to="/odom" />
<remap from="~output" to="/odom_corrected" />
<!-- slam for build a map -->
<node pkg="slam_karto" type="slam_karto" name="slam_karto"
output="screen" if="$(arg use_build_map)" >
<remap from="scan" to="base_scan"/>
</node>

<!-- check if room light is on -->
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