Demo: collaborative mapping of a room (cloud, rotation only)

Start the amazon machine mapping2 and ssh into it.

ssh ubuntu@<virtual_machine_ip>

Run in separate tabs

rce-master
rce-robot localhost
sudo rce-container localhost

On PC: Install rce:

git clone [email protected]:IDSCETHZurich/rce.git
cd rce
sudo ./install

Go to rapyuta-mapping folder and change URL in pc_vis.cfg to the current ip of the virtual_machine

roscore &
rce-ros pc_vis.cfg

Run rviz for visualization

rosrun rviz rviz -d multi_robot.rviz

On Robots: Comment out ROS_MASTER_URI in /etc/profile and relogin, change the URL in robot.cfg.template in rapyuta-mapping folder to the current virtual machine IP, and generate config files

python generate_rce_config.py

Run the config

rce-ros robot.cfg

Run the robot launch

roslaunch rm_launch robot.launch

On PC: Call the /start_moving command

rosservice call /start_moving