Navigation in indoor environments using iCreate robot with TX1 + ZED Camera

Pre-requisite

Initialize a catkin workspace in TX1:

mkdir -p catkin_ws/src

cd catkin_ws/src

catkin_init_workspace

cd ..

catkin_make

Source the workspace

source devel/setup.bash

Clone the packages from to catkin_ws/src:

1. create_autonomy packages, can be found at https://github.com/autonomylab/create_autonomy

2. zed-ros-wrapper, can be found at https://github.com/stereolabs/zed-ros-wrapper

3. neural-navigation, https://github.com/JunhongXu/tx1-neural-navigation

In catkin_ws, do catkin_make.

Host PC (Assume you have a PC3 controller connected to Host PC)

On host PC, run

1. roscore

2. rosrun joy joy_node

TX1

On TX1, run roslaunch robot run_robot.launch