Using SLAM software
From Lofaro Lab Wiki
Git hub repository:
https://github.com/LofaroLabs/POLARIS
Steps to run SLAM software 1. Open terminal window, empty all log data
~$rosclean purge
2. Start main ros system
~$roscore
3. Open new terminal window, allow access to USB port the robot is connected to via USB
~$sudo chmod 777 /dev/ttyUSB0
4. Allow access to USB port the hokuyo laser is connect to via USB
~$sudo chmod 777 /dev/ttyACM0
5. Start rosAria communications with the robot
~$rosrun rosaria RosAria _port:=/dev/ttyUSB0
6. Open new terminal window, start robot control---using pioneer robot here
~$rosrun pioneer3dx 3dxControl
7. Open new terminal window, set hokuyo laser node parameter
~$rosparam set hokuyo_node/port /dev/ttyACM0
8. Start hokuyo laser node
~$roslaunch hokuyo_node hokuyo_test.launch
9. Open new terminal window, start the SLAM mapping software
~$roslaunch hector_slam slam.launch
10. Open new terminal window, start the robot pose advertiser
~$rosrun robot_pose pose
11. Open new terminal window, start the robot pose subscirber
~$rosrun robot_pose pose_listener