Manual

MiniSLAM
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [e-mail]
www.SuperDroidRobots.com
Revised: August 3, 2018 Page 11 of 13
The password is temppwd.
Node Parameters
Almost every node has parameters that can be changed without the need to rebuild. Below is a table of nodes,
their parameter locations, and a reference for parameter descriptions:
ROS Node
Parameter File Path
(~/ = /home/ubuntu/)
Reference Material
Notes
roboteq_driver
~/mini_slam_bot/launch/mini_slam.lau
nch
See mini_slam.launch
These parameters shouldn’t be
changed unless there’s a change
in hardware.
ydlidar_node
~/mini_slam_bot/launch/mini_slam.lau
nch
https://github.com/EAIB
OT/ydlidar
See GitHub README for
parameter descriptions.
hector_mapping
~/mini_slam_bot/launch/mini_slam.lau
nch
http://wiki.ros.org/hect
or_mapping
move_base
~/mini_slam_bot/launch/navigation/m
ove_base.launch
~/mini_slam_bot/launch/navigation/pa
rams/costmap_common_params.yaml
~/mini_slam_bot/launch/navigation/pa
rams/global_costmap_params.yaml
~/mini_slam_bot/launch/navigation/pa
rams/local_costmap_params.yaml
~/mini_slam_bot/launch/navigation/pa
rams/teb_local_planner_params.yaml
http://wiki.ros.org/mov
e_base
http://wiki.ros.org/teb_l
ocal_planner
Highly recommended to read
through the package information
and tutorials before changing
these parameters.
Creating/Editing C++ Packages
The platform is setup with a catkin build system to build/rebuild ROS packages from source. If you are not
familiar with building ROS packages in a catkin workspace, read through this tutorial. To create a new package:
1. Create a new ROS catkin package in the existing catkin workspace:
2. Add source code to the /home/ubuntu/mini_slam_bot/catkin_ws/src/<package_name>/src/ directory.
cd /home/ubuntu/mini_slam_bot/catkin_ws/src/
catkin_create_pkg <package_name> [depend1] [depend2] …