Ground_Control_ROS

Contains the essential packages for post-processing of the bagfile data after the expedition. This will run on a laptop or home computer, to visualize the cave data.

Getting started

1. Clone this repo in the home directory ~/

2. Change directory to the root of the cloned repo, so that your working directory in the terminal looks like this: ~/Ground_Control_ROS

3. Create cartographer workspace directory mkdir catkin_ws

4. Change permission of shell scripts: chmod +x domake.sh chmod +x docopy.sh

5. Run the scripts in order: ./domake.sh ./docopy.sh

6. source the devel_isolated/setup.bash script within your basrc file nano ~/.bashrc -> scroll all the way down and paste this command -> source ~/Ground_Controls_ROS/catkin_ws/devel_isolated/setup.bash

7. Close the current terminal window, and open a new one in the directory ~/Ground_Controls_ROS/catkin_ws/

8. To test if everything worked, run the following, an rviz window should appear: roslaunch cartographer_ros cartographer.launch