Testing Instructions

Follow the following for running all the nodes during testing: (Some instructions are just for the proper organization of the terminals)

1. Open the terminator and divide it into four sections. Each one of these should be a root terminal. For this, type sudo su in each of them.
2. Type the following four commands one after the other(in this order only) in different different terminals(sections)

• ./xboxdrv.sh
• ./robo_launch.sh
• ./launch.sh
• ./encoder_pkg.sh

3. Open a new tab using ctr+shift+t (You need not be in root. The following instructions should be entered in this order in different terminal blocks)

• sudo chmod 777 /dev/tty* followed by roslaunch vn_ins module.launch (in same terminal)`
• rosrun hokuyo_node hokuyo_node
• roslaunch robot_localization final3.launch
• roslaunch logitech_camera module.launch
• roslaunch lane_detector module.launch
• roslaunch lane_navigator module.launch
• roslaunch tp_rrt_planner module.launch

In case of waypoint navigator, instead of the three commands from logitech_camera to lane_navigator, use roslaunch waypoint_selector module.launch

Note: The above instructions are for running the lane navigator. Use TAB as much as possible.