Embedded Motion Control 2013 Group 11

Group Members

Name:	Student id:	Email:
Justin Wildschut	0617495	j.a.wildschut@student.tue.nl
Jeroen Zegers	0638172	j.c.zegers@student.tue.nl
Alex Andriën	0652965	a.r.p.andrien@student.tue.nl
Talha Ali Arslan	0867550	talhaaliarslan@gmail.com
Leroy Hazeleger	0651762	l.hazeleger@student.tue.nl

Creating a different map

1. Download GIMP Image Editor from the Software Center
2. Open the existing map ("maze.pgm") in '/home/s080482/ros/emc/general/gazebo_map_spawner/maps' with GIMP
3. Edit the map how you want it to be. Scroll all the way down in the 'Brushes' box in the bottom right of GIMP. Then there is a square on the second last row on the far right, called ' square (5x5)(5 x 5). (make sure you have this one and not one with 'blur'. Also select the 'Pencil Tool Hard Edge Painting Using a Brush' in the top left box.
4. Now just delete blocks and at add them were you want. Zooming in helps. You can switch color on the top left as well.
5. Also if you look closely, you can see a grey dot in the bottom center. I think this to mark the point where the robot spawns. I suggest we leave it where it is and edit the maze around it.
6. Save the map in the same folder but with a different name.
7. Go to the folder '/home/s080482/ros/emc/general/gazebo_map_spawner/scripts' and open spawn_maze in a text editor.
8. Change the name of the map in needs to load, i.e. change the OWN_MAP in the text below to your own map name.
rosrun gazebo_map_spawner map_spawner `rospack find gazebo_map_spawner`/maps/OWN_MAP.pgm
9. Now simply spawn the maze in exactly the same way as you did before, so with exactly the same commands!

Teleop Controller for Pico

To be able to move the robot around manually and easily is very useful when testing simple things in the algorithm. Here you can find the teleop controller for PR2:

PR2 Teleop Controller [1]