How to do slam

Connect another pc via wifi. Set (on that PC) ROS_MASTER_URI and ROS_IP correctly. And (on that PC) run rviz.

On the neobotix PC, run

roslaunch neo_mp_400 gmapping_basic.launch

When done mapping (while keeping gmapping running), run on the neobotix PC:

rosrun map_server map_saver <desired_name>

How to navigation

On the neobotix PC, run

MAP_NAME=pd roslaunch neo_mp_400 navigation_basic_amcl.launch

(Or any other map name instead of pd.)

To send navigation goals, navigate to neo_mp_400/scripts and

• ./go_home.sh sends the robot to (0,0,0), which is where you started slam
• ./go_left.sh sends the robot the place in the hallway
• ./go_right.sh sends the robot the place next to the inspection cell