Navigation Deployment

This page records the current route that can already be reproduced from the existing codebase.

1. Route Summary

The currently runnable route is set in the Life and Science Building.

• Start area: the east entrance of the Life and Science Building
• Initial pose: about 2 meters away from the pillar on the left side after entering
• Initial heading: facing the security desk
• Goal: outside room LS209
• Route characteristic: the robot passes two staircases on the way to the goal

This is the route that should be reproduced first before trying to extend the system to other places.

2. Before Launch

Before starting the navigation run, make sure:

• the robot is physically placed at the expected initial position
• the robot heading matches the expected initial heading
• the map, localization, and navigation environment have already been prepared
• the workspace has already been built successfully

If the robot is not placed at the expected start pose, the navigation result should not be trusted.

3. Launch Sequence

Go to the workspace, source the environment, and launch the robot bringup file:

cd /path/to/FYP_ws
source devel/setup.bash
roslaunch robot_bringup 1.launch

This is the main command path currently used to reproduce the working route.

4. Expected Behavior

After the program starts successfully:

• the robot should initialize from the east entrance starting point
• localization should align the robot to the prepared map
• the navigation system should execute the route toward LS209
• the route should pass two staircases before reaching the final destination

The first goal is not to generalize the system immediately. The first goal is to confirm that the existing route can still be reproduced from the current code.

5. Failure Handling

The first attempt may fail. This is a known practical issue in the current workflow.

If the run fails:

1. Press Ctrl+C to stop the running ROS process.
2. Manually control the robot back to the original starting position.
3. Reset the robot so it again faces the security desk from the same initial location.
4. Restart the program with the same launch command.

If localization does not succeed, restart the program and try again from the same initial pose instead of continuing with a bad initialization.

6. Practical Notes

• Do not continue the run if the initial localization is obviously wrong.
• Do not continue the run if the robot starts from the wrong place or wrong heading.
• Repeat from the original start pose whenever initialization fails.
• Treat this route as the baseline reproduction case for the current codebase.