Tutorial

@date 15. July 2014
@author Markus Bader <markus.bader@tuwien.ac.at>

This tutorial covers the creation of a rawlog based on a rosbag.

Requirements:
  rosbag with recorded or robot with published
    - tf2_msgs/TFMessage (tf),  # to get relative the laser scanner pose
    - sensor_msgs::LaserScan (scan) topics
    the included driving_in_office.bag can be used for testing.
    
Create rawlogs:
  0a.) roscd mrpt_rawlog # change to the pkg folder
  0b.) cd tutorial       # change to the tutorial folder
  1.) start the roscore  
  2.) start the rawlog_record_node 
      # rosrun mrpt_rawlog rawlog_record_node scan:=/r1/front_laser/scan _odom_frame_id:=r1/odom _base_frame_id:=r1/base_link _raw_log_folder:=/tmp
  3.) play the rosbag
      # rosbag play driving_in_office.bag
  4.) stop the rawlog_record_node with ctrl+c to write the rawlogs
      --> you should get a folder named LOG_RBPF in /tmp
  
View rawlog:
  1.) start RawLogViewer
      # RawLogViewer 
      # the rawlog is located under /tmp/
  2.) click on the button "Raw-map" 
  3.) click on the button "Map from odometry"
      --> you should see now a map
      
Create map:
  0.) cd rawlog_record/tutorial  # change to the tutorial folder
  1.) start rbpf-slam
      # rbpf-slam rbpf_slam.ini *_asf.rawlog
      
Test localization:
  0.) cd rawlog_record/tutorial  # change to the tutorial folder
  1.) start pf-localization 
      # pf-localization pf-localization.ini /tmp/*_asf.rawlog
