This part assumes that you have done Part 1 and makes use of some of the packages downloaded and built for Part 1.
You are encouraged to go through this fetch documentation page for more details.
- Run set-up Start Gazebo simulator with the playground:
roslaunch fetch_gazebo playground.launch
Wait until the simulator is fully running and then run the fetch navigation launch file:
roslaunch fetch_navigation fetch_nav.launch map_file:=EMPTY
Run the build map launch file:
roslaunch fetch_navigation build_map.launch
- RVIZ visualization
rosrun rviz rviz
Remember to add the robot model to rviz. Also add Map to rviz so you can visualize the map of the world you will build.
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Show the simulated robot in action
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What is the least number of navigation goals required to have 90% of the environment built?