Hololens Robotics ROS

Setting up the workspace

Create our catkin workspace folder.

$ mkdir ~/horo_ws

Clone the repo inside the catkin workspace.

$ cd ~/horo_ws
$ git clone https://github.com/AP-Elektronica-ICT/horo-src.git

Change the repo folder name to "src".

$ mv horo-src-master src

Build the workspace.

$ cd ~/horo_ws
$ catkin_make

Normally a build and devel folder will be made in the workspace.

Before continuing make sure the devel/setup.bash file is sourced at startup.

$ sudo nano ~/.bashrc

Go to the bottom of the file and add the following rule source ~/horo_ws/devel/setup.bash. Then save and close the file.

You need to restart your terminal or use the $ source ~/.bashrc command for these changes to take effect.

To make sure everything is working.

$ echo $ROS_PACKAGE_PATH
/home/ros1604/horo_ws/src:/home/ros1604/catkin_ws/src:/opt/ros/kinetic/share

More information about setting up catkin workspaces.

Install the Turtlebot3 ROS packages

Follow this guide to install the Turtlebot3 ROS packages.

Add this to the .bashrc file

$ export TURTLEBOT3_MODEL=waffle_pi

And source setup file

$ roscd
$ source devel/setup.bash

Running the simulation

Run the simulation

$ roslaunch horo_simulations horo_world.launch