aaf_sim

This package contains files that are necessary for running STRANDS simulations on the University of Lincoln environments.

Setting up Autonomous Patrolling Simulation

1. Calibrate charging station parameters:

• Launch strands_datacentre: ``` roslaunch mongodb_store mongodb_store.launch db_path:=/opt/strands/mongodb_store

  ```
  

• Launch simulation: ``` roslaunch strands_morse aaf_sim_morse.launch

  ```
  

• Launch scitos_docking: ``` roslaunch scitos_docking charging.launch

  ```
  

• Drive the robot to the charging station

• Calibrate charging parameters running: ``` rosrun scitos_docking visual_charging_client calibrate 100

  ```
  

2. Insert waypoints on database:

• Launch strands_datacentre: ``` roslaunch mongodb_store mongodb_store.launch db_path:=/opt/strands/mongodb_store

  ```
  

• Insert waypoints in DB ``` rosrun topological_utils insert_map.py $(rospack find aaf_simulation)/maps/aaf_sim.tmap aaf_sim aaf_sim

  ```
  

  NOTE: You can also create your own topological map following the instructions on: https://github.com/strands-project/strands_navigation/tree/hydro-devel/topological_navigation

Launching Autonomous Patrolling Simulation

If all previous steps are done launch simulation by running:

```
rosrun aaf_simulation start.sh

```

Original page: https://github.com/strands-project/aaf_deployment/blob/indigo-devel/aaf_simulation/Readme.md