Centauri Robotics

Running your robot autonomously

Running robot by teleop

Before you begin running your CK-9 autonomously, it's a good idea to first run it using your keyboard to verify that the base_controller is running as intended and make sure you are getting good odometry data.
On your CK-9 run the following commands

roslaunch ck9_base minimal.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
That's it! Play around with your CK-9 and move it around with your PC keyboard! Check odometry data. On your PC on a new terminal window type:

rostopic echo /odom
and check if the pose and velocity data is accurate.
You can also check the same on rViz.

Create a map/run SLAM

roslaunch ck9_base minimal.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch ck9_navigation slam.launch
roscd ck9/rviz and then rviz -d slam.rviz
View the bot and the map being created in rviz, and move around the bot with teleop to build a full map To save the map: rosrun map_server map_saver -f map_name with terminal at the location where you want to save the map You now have a map ready to run your bot autonomously on!

Running your robot autonomously

Finally, you are all set to give a navigation goal to your robot and watch it run autonomously!
roslaunch ck9_base minimal.launch
roslaunch ck9_navigation navigate.launch map_file:=/home/username/path_to_map.yaml
roscd ck9_base/rviz and then rviz -d navigate.rviz
Use the "2D Nav Goal" button in rviz to publish your navigation goals and see your CK-9 in action!

Congratulations!

You've now learnt to run your robot autonomously faster than the rest!

What next?

Play around with your CK-9! Try building features and add capabilities on top of this stack. Or maybe improve this stack. There's surely a lot of room for improvement! Perhaps, make your own personal assistant bot with your CK-9! If you don't have a CK-9, get it right now! You surely can easily implement what you learnt in these tutorials. And there's no way you can get these components cheaper than this price.

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