Launch files for running Dora using the p2os packages provided by ROS, with a structure intended to match that used by the STRANDS project

To run Dora you need to install this package along with packages to control the robot base (p2os), pan-tilt unit (wu_ptu) and manage the transforms etc. (rocs_robot).

To install the necessary components, create a catkin workspace and use the following .rosinstall file, or use the URLs to install how you wish.

- git: {local-name: dora_launch, uri: 'https://github.com/uobirlab/dora_launch.git'}
- git: {local-name: wu_ptu, uri: 'https://github.com/uobirlab/wu_ptu.git'}
- git: {local-name: dora-control, uri: 'https://github.com/uobirlab/dora-control.git'}

You also need to install the dependencies of these packages before they build. The simplest way is to use rosdep from the top directory of your catkin workspace, e.g. (or similar)

rosdep install --from-paths src --ignore-src --rosdistro groovy -y -r

Some of the rocs_* packages will say that they need rosaria or libaria. Ignore that for now as we're not using Aria to control the robot.

To bring up the sensors and controllers launch

roslaunch dora_launch dora_bringup.launch

The ports are configured to work by default on Dora. You will need to have write access to /dev/ttyUSB0, /dev/ttyUSB1 and /dev/ttyACM0 for to talk to the robot. The easiest way to do this appears to be add yourself to the dialout group (e.g. sudo usermod -a -G dialout <username>).

To control the robot with the joystick you have two choices:

1. If you are using the older style Logitech controller (or any ROS-compatible joystick) you can use the p2os teleop package via:

roslaunch dora_launch dora_teleop.launch js:=<my joystick device, e.g. /dev/input/js1>

Note that this teleop approach continually sends commands to /cmd_vel and thus interferes with move_base

2. If you want STRANDS Project input you need to connect the newer silver controller, then the usual command should run:

roslaunch scitos_teleop teleop_joystick.launch js:=<my joystick device, e.g. /dev/input/js1>

Although not all functionality will be available.

To run Dora with 2D navigation plus 3D obstable avoidance, run

roslaunch dora_launch dora_2d_nav.launch map:=<full path to maps .yaml file>

If you don't yet have a map you can run gmapping SLAM in the usual way.