Vichesta (Takshak'21)

Installation

ROS

You will need to install the full desktop version of ROS Melodic. You can find these installation instructions here also.

Setup your computer to accept software from http://packages.ros.org

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Setup keys:

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Update packages and install ROS:

sudo apt update
sudo apt install ros-melodic-desktop-full

Setup the environment:

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install Rosdep:

sudo apt install python-rosdep
sudo rosdep init
rosdep update

Gazebo and Plugins

Setup your computer to accept software from http://packages.osrfoundation.org

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Update packages and install Gazebo:

sudo apt update
sudo apt install gazebo9 libgazebo9-dev

Other Packages

• Catkin Tools:

  sudo apt-get install ros-melodic-catkin python-catkin-tools
  

• std_msgs package:

  sudo apt install ros-melodic-std-msgs
  

• robot_state_publisher package:

  sudo apt-get install ros-melodic-robot-state-publisher
  

• joint_state_publisher package:

  sudo apt-get install ros-melodic-joint-state-publisher
  

Run the simulation

• Clone this repository in the src folder of your catkin workspace.
• Inside your workspace folder, run catkin_make.
• Open a terminal and run the following command to start the simulation:

  roslaunch takshak world1.launch