Set coordinates

Coordinate setting and file application essential for driving

The same applies when using the GUI.

Setting waypoints

  • start inside catkin_ws/src

  • navi_waypoint > config

  • Create the desired waypoint file or modify the existing file coordinates and change the name in ZBMRGS.py

  • name can be added, trajectories(using names in combination) can be added

  • robot_control_gui > scripts > ZBMRGS.py (pm2 사용 시 ZBMRCS.py)

  • It can be changed by changing the waypoint8.yaml file name to the file name in which the desired driving coordinates are set.

  • navi_waypoint > launch > navigationWayPoint.launch

  • Modify the desired file

Map change

  • zetabank_robot_control > zetabank_navigation > launch > normal_navigation.launch

  • Change the yaml file to the name of your map

Set charging position

  • zetabot_main > param > normal_operater.tot.yaml

  • Change charging_station_pose

  • Note that the coordinates of the robot standing in front of the charger are not the location of the charging station.

  • Coordinates on rviz before charging

Set start pose

  • Robot start position on rviz

  • If you start with the robot in this position in the field, you can start with the lidar and map matched when starting rviz.

Set robot init pose

  • Coordinates immediately after the robot comes out of the charging station after charging

  • Resetting the coordinates to drive after charging

  • To match the lidar of the map and the robot