Warthog Teach and Repeat (ROS2)

Launch the nodes

1. Create 3 screens using the command screen -S <name> of in 3 different terminals:

   • mapping
   • controller
   • wiln

2. Join each screen using screen -r <name>

3. Detache each screen : Ctrl+A D

4. In mapping launch the node :

ros2 launch husky_mapping realtime_experiment_launch.xml

5. In controller launch the node :

ros2 launch norlab_controllers_ros husky_mpc_launch.xml

6. In wiln launch the node :

ros2 launch wiln husky_launch.xml

Teach

Run the topic list for auto-complte :

ros2 topic list

• Start recording the trajectory :

ros2 service call /start_recording std_srvs/srv/Empty

• Stop recording the trajectory :

ros2 service call /stop_recording std_srvs/srv/Empty

Repeat

• Start playing the trajectory :

ros2 service call /play_line std_srvs/srv/Empty

• To clear the trajectory to repeat :

ros2 service call /clear_trajectory std_srvs/srv/Empty