Please refer to the prerequisite setup before continuing.
1) The configuration command below will:
- start all the driver nodes (roboteq, imu, sicktim, gps)
- start the localization nodes (2x ekf_localization_node, navsat_transform_node)
- start the navigation stack (move_base)
---> roslaunch scipio_2dnav start.launch
2) Once configuration is launch, launch the state machine to send gps goals:
- It will wait 5 seconds after start, before sending the first goal.
---> roslaunch state_machine start.launch
1) The simulator launch command below will:
- Completely setup everything you need to simply just send goals to the robot
- Depending on your computer speed, it may take up to 15 seconds to load gazebo
---> roslaunch scipio_simulation gazebo.launch
2) Once you see the IGVC course in Gazebo:
- Start state machine to send goals
---> roslaunch state_machine start.launch