Running the Navigation Interface on your Computer

The Navigation Stack and Control

For Demonstration purposes we used ROS navigation stacks that allow autonomous navigation of the Pioneer3dx robot using A* algorithms. To Start up the Pioneer3dx open a terminal and type:

  roslaunch pioneer_2dnav pioneer_bringup.launch

To Start the navigation stack that will control the Pioneer3dx open a terminal and type:

  roslaunch pioneer_2dnav move_base_isr_map.launch
 

The MetaReader Dialog

For demonstration purposes we created a dialog that will run on a computer and communicate serially with the MILES device. It will then use this data like the location and the metadata file to perform navigation. It can acquire information from MILES and it can also send information to a ROS navigation stack that is controlling our robot, the Pioneer3dx. To run this dialog, open a terminal and type:

 rosrun metareader dialog