roslaunch halc0311_simulation turtlebot3_gazebo_halc.launch
rosrun halc0311_simulation turtlebot_move_spawn_write.py (this program is somehow so slow)
Thinking a better way to generate the waypoints…..
#1 run gazebo of simulation map
roslaunch halc0311_simulation turtlebot3_gazebo_halc.launch
#2 run amcl navigation (rviz) reading a scan map
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/catkin_ws/src/halc0311_simulation/map/halc0311_c.yaml
# for keyboard control
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
#3 save current amcl pose (waypoint) to a file and mark a waypoint on gazebo
rosrun halc0311_simulation recorddraw_goal2digit_onefile.py
#4 read the waypoint file and let the robot move along the waypoint
rosrun halc0311_simulation megarover_sequence_goals.py goal_sequence_20250316_161024.yaml
# cancel navigation goal
rostopic pub /move_base/cancel actionlib_msgs/GoalID -- {}run keyboard or mouse
rosrun teleop_twist_keyboard teleop_twist_keyboard.py // not work
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch //ok
roslaunch megarover3_ros mousectrl.launch