FroboMind:Frobit demo

To test FroboMind you may run a small demo simulation of the Frobit robot where you will be able to remote control the Frobit using your keyboard

The following instructions assume that you have completed the FroboMind installation guide.

First compile the application:

cd ~/roswork/src
frobomind/frobomind_make /frobit_demo

Then launch the simulation:

roscd frobit_demo
bin/frobit_sim_wpt_nav

To control the robot with the arrow keys, you must be in the terminal from where you launched the simulation. Press e to enable the deadman signal (the robot will not move until you do that).

Key commands

a(uto) Enter autonomous mode
m(anual) Enter manual mode

e(nable) Enable deadman signal (required for the robot to move)
Space: Disable deadman signal

In manual mode
s(top) Stop the robot by setting the velocity to zero

To see how the system is put together, you can open a new terminal (CTRL-ALT-T) and type:

rosrun rqt_graph rqt_graph

To quit the simulation press CTRL-C in the terminal from where you launched the simulation.