From 72dc10bd161acf01e41b687d3d03bfe1c9ca42df Mon Sep 17 00:00:00 2001 From: Fernando Herrero <fherrero@iri.upc.edu> Date: Thu, 7 Mar 2019 18:18:20 +0100 Subject: [PATCH] Update README.md --- README.md | 25 +++++++++++++++++++------ 1 file changed, 19 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 5f5b3eb..fbad1f4 100644 --- a/README.md +++ b/README.md @@ -111,17 +111,30 @@ A complete list of all ROS interfaces is shown [here<to_do>](). ## What to do next -All the tutorial included in this section can be used both in simulation or with the real robot. +All the applications included in this section can be used both in simulation or with the real robot. +Assuming you have launched the robot in simulation or real world: - * To teleoprate the robot, follow the instructions in this [tutorial](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch/blob/master/README.md) +First, to launch the simulation in a different world than an empty one: + + ```roslaunch iri_helena_gazebo sim_sample.launch world_name:=willow``` + +Then, + + * You can teleoprate the robot, for example, using a rqt gui: + + ```roslaunch iri_teleop_launch rqt_teleop.launch ns:=helena``` + + * Navigate - * To create a map of the simulated environment, follow the instructions in this tutorial[<to_do>] + * while creating a map of the environment: + + ```roslaunch iri_helena_rosnav nav_mapping.launch``` - * To navigate the robot in the new environment, follow the instructions in this tutorial[<to_do>] + * Or in an existing map: -Some tutorials specific to the simulated robot: + ```roslaunch iri_helena_rosnav nav.launch``` - * To change the simulated environment edit the [<to_do>] file and <to_do> + You can teleoperate the robot around, or send navigation Goals using the "2D NaV goal" (shortcut key 'g'). # Developers -- GitLab