iswariyam / 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. Alternatively, you can skip this step, as ROS Kinetic is automatically installed by the setup.sh script described in this section.

• 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").

First of all you have to clone the repository.

mkdir ~/temp
cd ~/temp
git clone [email protected]:b-it-bots/mas_industrial_robotics.git

Navigate into the cloned repository and run setup.sh file.

 ./setup.sh full <optional arg for catkin_ws parent dir>

This script does the following,

• installs ROS, if not previously installed, provided the optional argument full is given
• creates a catkin workspace folder in the directory specified in the argument or by default places it in home directory, i.e. ~/catkin_ws (if it does not exist)
• copies the clone of the mas_industiral_robotics from your ~/temp to <your folder>/catkin_ws/src and installs the necessary ros dependencies and other related repositories
• initiates a catkin build in the catkin workspace

Add the following to your bashrc and source your bashrc, so that you need not execute ./setup.sh script each time you open your terminal

 source <your folder>/catkin_ws/devel/setup.bash

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

Finally delete the initially cloned mas_industrial_robotics in ~/temp, as all necessary repositories and dependencies are successfully cloned and installed in your catkin workspace

 rm -rf ~/temp/mas_industrial_robotics

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.