1. Some Previous Steps

1. Enable the LCAS package repositories:

2. Add the LCAS public key to verify packages:

   curl -s http://lcas.lincoln.ac.uk/repos/public.key | sudo apt-key add -

3. Add the LCAS repository:

   sudo apt-add-repository http://lcas.lincoln.ac.uk/repos/release

4. update your index:

   sudo apt-get update

5. Install the package “uol_cmp3641m” which will install all required packages:

   sudo apt-get install ros-indigo-turtlebot-gazebo

2. Launch Simulation

1. Define TURTLEBOT_GAZEBO_WORLD_FILE:

   export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/indigo/share/turtlebot_gazebo/empty.world

2. Launch Simulation:

   roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=$(rospack find turtlebot_gazebo)/worlds/empty.world

3. Launch RVIZ:

   rosrun rviz rviz

4. Keyboard teleop:

   roslaunch kobuki_keyop keyop.launch

2. Create 2D Map

1. run gmapping after all steps in 2:

   rosrun gmapping slam_gmapping

2. Navigate using Move_base:

1. simple version:

   roslaunch turtlebot_navigation amcl_demo.launch map_file:=/my_2dmap.yaml

2. check link: http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map

2. Create Topological Map

TOM check this also needs to be running https://github.com/LCAS/Rusty/blob/indigo-devel/rusty_simulation/scripts/robot_pose_publisher.py

1. Launch MongoDB:

   roslaunch mongodb_store mongodb_store.launch db_path:=/path/to/mongodb

2. Launch Topological Navigation:

   roslaunch topological_navigation topological_navigation_empty_map.launch map:=Name_of_your_map

3. Launch RVIz:

4. Add Interactive markers to edit your map

Original page: https://github.com/strands-project/lamor15/wiki/ICRAI-workshop