Step 1. Install Ubuntu 18.04 and ROS Melodic!
Step 2. Following ROS Tutorial and create catkin_ws
Step 3. Git clone Miniros and some repos:
cd ~/catkin_ws/src
git clone https://github.com/TriKnight/miniros/
git clone https://github.com/ros-teleop/teleop_twist_keyboard
Step 4. Install all ROS dependences
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin_make
Step 5. Running Miniros empty world gazebo enviroments
roslaunch miniros_gazebo miniros_world.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Reading from the keyboard and Publishing to Twist!
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Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
U I O
J K L
M < >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
roslaunch miniros_gazebo miniros_cpr_construction.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roslaunch miniros_navigation gmapping.launch
roslaunch miniros_description miniros_rviz.launch
Launch the map_saver node in the map_server package to create map files. The map file is saved in the directory where the map_saver node is launched at.
rosrun map_server map_saver -f ~/map