Youbot Mapping (Federico)

Install ros mapserver (if not groovy navigation)

rosrun mapserver mapfilename

Setup hokuyo (USB plug, setup full ownership, name of usb port)

Install hokuyo node (ros groovy laser sensor)

[Youbot_navigation_robot youbot_launch launch]

Measure hokuyo transformation from robot base link and laser base link (X/Y/Z)

[Look into Federico's Youbot_sensor_frames launch folder]

Broadcast tf

Rosrun hokuyo node

Install amcl package

Rosrun amcl node

[Check youbot_navigation_remote youbot_remote launch]

Setup amcl parameters (Initial position with relation to map origin, initial covariance x/y/theta, displacement for update min d/a, min/max samples[1000], no need to change sensor/odometry model parameters)