Making the Robot Perform Autonomous Naviation with a supplied Map

List of 4 commands to run (each in a separate terminal):

1. roscore
   1. Gets ros master node started
2. roslaunch segbot_bringup segbot_hokuyo.launch
   1. Makes sure the computer can talk to the base
3. roslaunch segbot_navigation rviz.launch
   1. Makes a GUI for seeing the map as its made
4. rosrun map_server map_server YOUR_MAP.yaml
   1. Loads YOUR_MAP.yaml
5. (required) roslaunch segbot_navigation move_base_eband.launch
   1. This is an bubble based point A to B directions planner
   2. It creates “bubbles” in its path from point A to B
   3. The bigger the bubble the faster the robot is allowed to move
   4. bubble size is constrained by obstacles
6. roslaunch segbot_navigation amcl.launch
   1. Does localization

Once you have all of this up and running move to the Rvis GUI and:

1. give the robot an inital guess as to its position
2. give the robot an navigation goal to complete to goto