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--- robotino_nav_tutorial [2018/11/29 19:42] – adave
+++ robotino_nav_tutorial [2018/12/05 15:08] (current) – jkreitz
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 **Robotino Demo Tutorial**
 **Background**
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 d is the maximum range from the obstacle you would like Robotino to move.
-After updating any of the values, make sure you cakin_make in the catkin_ws directory.
+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, follow these steps
+To use Robotino Potential Field demonstration, open a terminal and input the following:
-Open Terminal
-"$ roslaunch robotino_node robotino_node.launch hostname:=<Robotino IP Address>"
+  * "roslaunch robotino_node robotino_node.launch hostname:=<Robotino IP Address>"
 Then open a new terminal and input the following commands in the shell:
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 The Robotino demonstration will run once you input the rosrun command.
+==== Potential field ====
+\\
+{{ youtube>X1TTRiAJsB4?large }}
+{{ youtube>zp9GgoVG31A?large }}
+\\
 ---------------------------------------
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 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 }}
+\\