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Using the Drive Controller

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Austin F. Oltmanns edited this page Nov 3, 2018 · 4 revisions

Preamble:

Start 5 terminals.

Terminal 5:> source ./devel/setup.bash
```
         roscore
```
Terminal 4:> source ./devel/setup.bash
```
         vrep -h
```
Terminal 3:> source ./devel/setup.bash

         roslaunch drive_controller/vrep_launch_file.launch

Terminal 2:> source ./devel/setup.bash
```
         rviz
```
Terminal 1:> source ./devel/setup.bash
```
         rosservice call /vrep/start
```

         rosservice call /plan_path "goals: [{x: 0.75, y: 0.75}, {x: 6.5, y: 0.8}]"

Note that the first argument is that starting position of the path (MUST be close to robot) and the second argument is the goal.