Navigation on the Real Robot

• To work with the robots, you'll need to obtain login details for the robots from someone in person. On the robot, we use some number of common accounts for all the students. It may be possible that the code has already been setup on the account, otherwise you'll have to set up that user account by following the instructions at Set up your user account.

• Next, make sure you know how to use the robot. Check the tutorial on using the robot. Remember to turn the robot off and plug it back into charging before you leave.

• Once you power the robot on, you'll need a map of the world. You'll find maps here: http://farnsworth.csres.utexas.edu/maps/. Pick an appropriate map and download it to your machine. You will need both the YAML file and the PGM file. Then run the following command:

roslaunch segbot_navigation navigation.launch map_file:=<yaml_map_file>

That's it! Take a look at the Navigation Tutorial in simulation to see how to navigate the robot around. The interface is same.