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--- robotino_nav_tutorial [2018/11/29 18:38] – jkreitz
+++ robotino_nav_tutorial [2018/12/05 15:08] (current) – jkreitz
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+**Robotino Demo Tutorial**
 **Background**
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 Plug Robotino into the router using an ethernet cable
 Once you are able to access Robotino’s main menu, select the following menu sequence
-“Network”
-“Eth0”
+  * “Network”
-“DHCP”
+  * “Eth0”
-“Activate”
+  * “DHCP”
+  * “Activate”
 Once the menu says “success,” press the left arrow key until you get back to “Network.” Double check the IP address - you will need it for the ROS node.
@@ Line 25: / Line 29: @@
 {{:robotino_1.png?200|}}
-To use Robotino Potential Field demonstration, follow these steps
+---------------------------------------
-Open Terminal
-~$ roslaunch robotino_node robotino_node.launch hostname:=<Robotino IP Address>
-Then open a new terminal and navigate to the Catkin Workspace
+**Using Robotino for Potential Field Demo**
-"~$ cd catkin_ws/"
-"~$ catkin_make"
-"~$ rosrun vikram yahoo"
-The Robotino demonstration will run once you input the rosrun command.
+Creating the Grid
----------------------------------------
+To change the size of each box in the program, go to the PFNav.cpp file and change the “scale” variable in the “tileGridGoal” function. Units are in meters.
-**Using Robotino for Potential Field Demo**
-Goal/Obstacles
+Changing Goal/Obstacles
 To change the goal/obstacle locations, go to the PFNavNode.cpp in the vikram package. In the navigator object in the main function, there are two specific methods - “navigator.tileGridGoal(x,y,w)” and “navigator.tileGridObstacle(x,y,w,d) ” - that you can use to define where the Robotino’s goal is and which obstacles are in its way.
@@ Line 47: / Line 45: @@
 x and y are positions on the grid, starting from (0,0)
 z is the total length of the grid in terms of squares
-d is ….. (??)
+d is the maximum range from the obstacle you would like Robotino to move.
+After updating any of the values, make sure you catkin_make in the catkin_ws directory.
+Note: Potential Field only works well with one obstacle.
+---------------------------------------
+To use Robotino Potential Field demonstration, open a terminal and input the following:
+  * "roslaunch robotino_node robotino_node.launch hostname:=<Robotino IP Address>"
+Then open a new terminal and input the following commands in the shell:
+  * "cd catkin_ws/"
+  * "catkin_make"
+  * "rosrun vikram yahoo"
+The Robotino demonstration will run once you input the rosrun command.
+==== Potential field ====
+\\
+{{ youtube>X1TTRiAJsB4?large }}
+{{ youtube>zp9GgoVG31A?large }}
+\\
+---------------------------------------
+**Using Robotino for Breadth First Demo**
 Updating the Grid
-To change the size of each box in the program, go to the PFNav.cpp file and change the “scale” variable in the “tileGridGoal” function. Units are in meters.
+To change the size of each box in the program, go to the BFNavigatorNode.cpp.
+The "myMap.createGrid" method allows you to define the size of the grid. The parameters to the "createGrid" method are the length of the x and y axes.
+The "myMap.setOriginOnGrid" method allows you to define the origin of the grid, with (0,0) being the bottom right hand corner.
+Goal/Obstacles
+The goal can be set by changing the parameters to the "myMap.addGoal" method.
+Obstacles can be set by changing the parameters to the "myMap.addObstacle" method. Note that obstacles in this demo are placed in a for loop. This allows you to place multiple obstacles along an axis.
 After updating any of the values, make sure you cakin_make in the catkin_ws directory.
+Note: Breadth First works well with less than four obstacles.
+---------------------------------------
+To use Robotino Breadth First demonstration, open a terminal and input the following:
+  * "roslaunch robotino_node robotino_node.launch hostname:=<Robotino IP Address>"
+Then open a new terminal and input the following commands in the shell:
+  * "cd catkin_ws/"
+  * "catkin_make"
+  * "rosrun vikram bfs" (if bfs doesn't work, use "move")
+The Robotino demonstration will run once you input the rosrun command.
+==== Breadth First ====
+\\
+{{ youtube>sUl7V03U05A?large }}
+\\