ROS Erratic

This scrip covers launching and basic operations for erratic in ROS Indigo.

Real Erratic

SSH into the erratic (password: robotics2017):
Launch these on the erratic:
roslaunch erratic_player erratic_base.launch roslaunch hokuyo_node hokuyo_test.launch rosrun hokuyo_node hokuyo_node
Record scan and odom:
rosbag record -j scan odom tf
Run roscore
Set the sim time param
rosparam set use_sim_time true
Start gmapping:
rosrun gmapping slam_gmapping base_frame:=base_footprint
Play the bag:
rosbag play --clock -l 2017-05-10-19-03-41.bag
Save the map:
rosrun map_server map_saver -f map.pgm
Follow this link for the raw script.