Testing & Completion

Testing & Completion

Testing your Work

Now open starter_project.launch.py which is in the mrover/starter_project/autonomy/launch folder. Make sure the lines declaring a node in the localization, perception, and navigation sections are uncommented.

To run the rover in the simulator:

1. In your terminal run ros2 launch mrover starter_project.launch.py to open the simulator, you should see the rover not moving in the simulator.
2. In a new terminal run ros2 run mrover visualizer.py so you can monitor which state the rover once you start it.
3. In the simulator press p to enable physics. Watch the rover move to (8, 2) while being in the DriveState, transition to TagSeekState, see the tag, and finally reach the tag and move to the DoneState.

Completion

Congrats! You’ve finished the autonomy starter project!