usr-guide-CHEATSHEET.md

Cheat Sheet

basic workflow

1. open ROS server roscore

2. open STDR server source /opt/ros/kinetic/setup.bash,

   • with a default map roslaunch stdr_launchers server_with_map_and_gui_plus_robot.launch  
   • with no map roslaunch stdr_launchers server_no_map.launch, and then open your own map (also see: How to load a map): option 1 : rosrun stdr_server stdr_server_node maps/<your_own_maze.yaml>, or option 2 : roscd stdr_resources ---> rosrun stdr_server load_map maps/<your_own_maze.yaml>

3. open GUI visualizer. roslaunch stdr_gui stdr_gui.launch

4. open RVIZ(optional).roslaunch stdr_launchers rviz.launch

5. compile and run your script.chmod +x rosmaze <your_own_script.py>, then run rosrun <workspace name> <your_own_script.py> *we recommand you put your own scripts in catkin_ws/src/stdr_simulator/stdr_samples.

how to register external map

1. download/draw/get an image in .png format. *online-format-converter

2. put your_own.png in folder catkin_ws/src/stdr_simulator/stdr_resources/maps.

3. write a your_own.yaml file for your map, use the same format as other yaml files, notice change file name to match with your map name.

4. run: sudo chown -R $USER:$USER /opt/ros/kinetic/share/stdr_resources/maps This gives you the permission of editing this source folder (you might not need this line)

5. now you can put your_own.png and your_own.yaml in the folder /opt/ros/kinetic/share/stdr_resources/maps.

6. Finally, register the map, run roscd stdr_resources , then rosservice call /stdr_server/load_static_map "mapFile: '$PWD/maps/<your_own.yaml>'".