abakisita / mas_industrial_robotics Goto Github PK

The repository and its related components have been tested under the following Ubuntu distributions:

• ROS Kinetic: Ubuntu 16.04

If you do not have a Ubuntu distribution on your computer you can download it here

 http://www.ubuntu.com/download

Install the Git core components and some additional GUI's for the version control:

 sudo apt-get install git-core gitg gitk

Now it's time to configure your settings. To do this you need to open a new Terminal. First you need to tell git your name, so that it can properly label the commits you make:

 git config --global user.name "Your Name Here"

Git also saves your email address into the commits you make.

 git config --global user.email "[email protected]"

If you have never worked with git before, we recommend to go through the following basic git tutorial:

 http://excess.org/article/2008/07/ogre-git-tutorial/

The repository has been tested successfully with the following ROS distributions. Use the link behind a ROS distribution to get to the particular ROS installation instructions.

• ROS Kinetic - http://wiki.ros.org/kinetic/Installation/Ubuntu

NOTE: Do not forget to update your .bashrc!

If you have never worked with ROS before, we recommend to go through the beginner tutorials provided by ROS:

 http://wiki.ros.org/ROS/Tutorials

In order to understand at least the different core components of ROS, you have to start from tutorial 1 ("Installing and Configuring Your ROS Environment") till tutorial 7 ("Understanding ROS Services and Parameters").

source /opt/ros/kinetic/setup.bash
mkdir -p ~/kinetic/src; cd ~/kinetic/src
catkin_init_workspace
catkin build

First of all you have to clone the repository.

cd ~/kinetic/src;
git clone [email protected]:b-it-bots/mas_industrial_robotics.git

Then go on with installing further external dependencies:

cd ~/kinetic/src/mas_industrial_robotics
./repository.debs

source ~/kinetic/devel/setup.bash

The last command should be added to the ~/.bashrc file so that they do not need to be executed everytime you open a new terminal.

And finally compile the repository:

cd ~/kinetic
catkin build

If no errors appear everything is ready to use. Great job!

With the ROBOT variable you can choose which hardware configuration should be loaded when starting the robot. The following line will add the variable to your .bashrc:

 echo "export ROBOT=youbot-brsu-1" >> ~/.bashrc
 source ~/.bashrc

The ROBOT_ENV variable can be used to switch between different environments. The following line will add the variable to your .bashrc:

 echo "export ROBOT_ENV=brsu-c025" >> ~/.bashrc
 source ~/.bashrc

 echo "export ROBOT_ENV=brsu-c025-sim" >> ~/.bashrc
 source ~/.bashrc

 roslaunch mir_bringup_sim robot.launch

In a new terminal you can open the Gazebo GUI to see the environment and the robot

     rosrun gazebo_ros gzclient

 roslaunch mir_bringup robot.launch

 roslaunch mir_teleop teleop_keyboard.launch

 rosrun rviz rviz

 roslaunch mir_2dslam 2dslam.launch

 roslaunch mir_2dnav 2dnav.launch nav_mode:=dwa

Click on the menu bar "File -> Open Config", navigate to "~/indigo/src/mas_industrial_robotics" and select the "youbot.rviz" file.