Physical Privacy Tutorial

#Physical Privacy Tutorial This tutorial will cover how to display the line markers in RVIZ as well as run the rest that modifies the robot's costmap.

It's imperative to understand that use of this package is contingent upon

1. a correct .yaml zones file produced by map_registration, which you can place in the physical_privacy/zones folder, and

2. you are running on a workstation that is currently talking to a robot (via setting ROS_MASTER_URI).

###Running the program -- on your turtlebot As an example, we'll focus on the turtlebot. Further modifications can be done for switching to a different platform (i.e, you must modify the file at /launch/turtlebot/amcl.launch to launch the correct drivers for your new robot).

#If you've not already launched turtlebot_bringup minimal.launch, do so.
roslaunch turtlebot_bringup minimal.launch 
roslaunch physical_privacy amcl.launch map_file:=/path/to/your/map/file.yaml

###Running the program -- on your workstation

1. Running with both the markers and the costmap manipulation.

roslaunch physical_privacy priv_nav.launch zones:=/path/to/zones/file.yaml

You will notice that the process "restrict_zones_client" dies rather immediately. This is because it terminates after it manipulates the costmap accordingly. If you wish to disable the costmap manipulation, you can do so using the navigation argument, i.e,

roslaunch physical_privacy priv_nav.launch zones:=/path/to/zones/file.yaml  navigation:=false

###Displayin' the markers in Rviz

After completing the above, the robot should avoid any zones labelled as private in the execution of its navigation goals. You will probably want to visualize those zones -- to do so, open Rviz, and click to add a MarkerArray, then set its Marker Topic to "/zones".