NOW THERE ARE TWO LAUNCH FILES, FIRST MAKE SURE THE COLLECTOR RUNS, THEN THE NAVIGATOR. ALSO, MAKE SURE HUKSY_NAVIGATON AND HUSKY_CONTROL PROPERLY EDITED. NOT DEFAULTS. THE EKF PART OF THE PACKAGE IS REMOVED AS OF NOW. YOU DONT NEED THE LOCALIZATION.YAML FILE OR THE POSE_COVARIANCE.PY FILE.
OBVIOUSLY A FEW OF THESE FILES NEED TO BE REMOVED AND CLEANED UP.
THIS ASSUMES YOU HAVE CLEARPATH PACKAGES INSTALLED AT CATKIN_WS/SRC
First, launch natnet node for optitrack:
`roslaunch natnet_ros_cpp gui_natnet_ros.launch`
To to launch move_base with static map and DWA planner:
`roslaunch husky_waypoint_nav with_map_husky_nav.launch`
To launch move_base without static map and TrejectoryPlanner:
`roslaunch husky_waypoint_nav no_map_husky_nav.launch`
To launch the collection:
`rosrun husky_waypoint_nav collect_optitrack_waypoints.py`
To launch navigator:
rosrun husky_waypoint_nav optitrack_waypoint_navigator.py
If you run into time sync errors, run the following when connected to internet:
`sudo timedatectl set-ntp true`
AND
sudo hwclock --systohc