Ros mapping
This is my catkin_ws folder so technically you dont need everything it.
To run mapping, take the src folder in here and place it in your own catkin_ws.
Do:
catkin_make
source devel/setup.bash
Programs that need (or should be) to be running before using mapping.
1) Roscore
roscore
2) Rviz
rosrun rviz rviz
Config is included in the mapping folder
3) Stage
CD to your world folder (There is one included in the mapping folder)
rosrun stage_ros stageros IGVC2013Auto-Nav_Basic.world
4) Gmapping or hectormapping
Within the mapping folder there is a launch file for both gmapping or hectormapping
roslaunch gmapping.launch
OR
rosluanch hector_mapping.launch
5) Optional - Generating fake lane lines
Make sure the lane lines are black in your world if you need to generate fake lane lines
afl = ameer's fake lane lines
rosrun mapping afl
This outputs two image topics.
The convertimage topic is the binary image used by mapping
The visualizedimage topic is a visualization of the image before it is converted into binary.
6) Mapping Program
rosrun mapping mapping
To see what the program is publishing look at the bottom of the mapping code.