---
# System prepended metadata

title: guid robot toturial

---

# guid robot toturial


### anchors info used in the experiment
guid_demo.yaml

### launch commands (on jackal)
to launch jackal base:
```
roslaunch jackal_base base.launch
```
to access guid-stick's rpi:
```
sshpass -p aidriving ssh admin@guid-stick.local
```
to turn on velodyne:
```
roslaunch velodyne_pointcloud VLP16_points_jackal.launch veh:=jackal
```
to turn on realsense:
```
roslauch realsense2_camera rs_rgbd.launch
```
to turn on dynamixel:
```
roslaunch dynamixel_workbench_controllers guiding_dynamixel_controllers.launch
```
to navigate via UWB:
```
roslaunch pozyx_ros multi_ranging_guid.launch veh:=jackal config_file:=guid_demo
```
to launch visual slam:
```
roslaunch orb_slam2_ros orb_slam2_d435_rgbd_sis.launch veh:=jackal
```

to launch gmapping:
```
roslaunch gmapping slam_gmapping_jackal.launch veh:=jackal
```


to launch astar navigation:
```
roslaunch astar tracking_guid_astar.launch veh:=jackal map_frame:=map 
```

to navigate via RL:
```
tx2:guid_rl
```

### launch commands (on anchors)
```
cd ~/subt-anchorball
source run_guid.sh 1_2
```