Based on the work by Andrew Bensen at Carnegie Mellon University. Additions by Anurag Kanungo, Bradley Schmerl and Ekansh Gupta.
- Clone the project using:
git clone https://github.com/ekanshgupta90/ig_action_server.git
- Move the files to your catkin workspace src directory.
cp -r ./* <catkin_ws>/src/
by default
cp -r ./* ~/catkin_ws/src/
- Make the source file (you need to be in catkin workspace directory):
cd ..
catkin_make
- Add the build files to environment:
source devel/setup.bash
- Run rospack to add the packages to roscd:
rospack depends1 ig_action_server
rospack depends1 ig_action_client
- Run ROS Gazebo
roslaunch turtlebot_gazebo turtlebot_world.launch
- Run AMCL
roslaunch turtlebot_gazebo amcl_demo.launch
- Run Rviz
roslaunch turtlebot_rviz_launchers view_navigation.launch
- Run IG Server
roscd ig_action_server/src
python ig_server.py
- Run IG Client
roscd ig_action_client/src
python ig_client.py instructions/new.ig