This was tested on Indigo.

• Create a catkin ws (or use your existing catkin ws):

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make 
source devel/setup.bash  //add to .bashrc for convenience

• Add and compile the LEMTOMap Metapackage

roscd
cd ../src
wstool init
wstool set lemtomap_meta --git git://github.com/koenlek/ros_lemtomap.git
wstool update lemtomap_meta
rosdep install --from-paths . -i -y
cd ..
catkin_make

Use catkin_make -DCMAKE_BUILD_TYPE=Release for (faster) release build, catkin_make -DCMAKE_BUILD_TYPE=Debug for (slower) debuggable build. catkin_make will remember last build type you selected, so subsequent builds dont need the flag unless you want to change.

roscd
cd ../src
wstool update lemtomap_meta
rosdep install --from-paths . -i -y
cd ..
catkin_make

• A GPU related issue can cause simulated runs to fail. If you experience such issues, please change gpu_ray to ray and libgazebo_ros_gpu_laser.so to libgazebo_ros_laser.so in lemto_description/urdf/lemto_turtle_gazebo.urdf.xacro

roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch

Tip: You can experiment by setting: rolling:=false (default is true) windowsize:=20 (default is 20)

For example: roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch rolling:=false

Use the arrow keys to increment speed, hit space to reset. If you get an error about motors not being powered up, hit 'e'.

Just use the RVIV '2D Nav Goal' tool on any unknown space (should be within the global costmap however)

You can send it to any topological node using this command. The RVIZ select tool can be used to choose a proper target_node_id.

rostopic pub /move_base_topo/goal lemto_actions/GotoNodeActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  target_node_id: 1" -1

save a map (execute for example from ~/catkin_ws/src/lemto_map_server/maps):

rosrun lemto_map_server save_map -f my_toponav_map

load a map:

roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch load_map_directory:=$(rospack find lemto_map_server)/maps/my_toponav_map

OR e.g. ($(pwd) expands to current directory, e.g. ./my_toponav_map):

roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch load_map_directory:="$(pwd)/my_toponav_map"