Installation

Installation of relevant dependencies/packages

Install ROS

We used ROS Indigo in this tutorial. But the tutorial could work even in ROS Kinetic/Lunar, although we did not validate it in Kinetic Kame.

We recommend you install ros-indigo-desktop-full so that you have all the necessary packages. The full package comes with Gazebo 2.2 as default. We recommend using a desktop PC or a laptop with Ubuntu 14.04+.

Installing iRobot Create2 (Roomba 600) Driver

The ROS driver for Create2 robot is provided by the Autonomy lab at SFU, Canada. Install the ROS driver for the robot using the following instructions. For detailed driver installation instructions, please look at https://github.com/AutonomyLab/create_autonomy.

Workspace Setup

If you want to create a new catkin workspace for the robot driver, then bash $ cd ~ $ mkdir -p create_ws/src $ cd ~/create_ws $ catkin_make Else, use an existing ROS workspace for the next step.

Clone the repository of the robot driver bash $ cd ~/create_ws/src $ git clone https://github.com/AutonomyLab/create_autonomy.git

Build/Compile
bash $ cd ~/create_ws $ catkin_make

Check USB Permissions

1. In order to connect to Create over USB, ensure your user is in the dialout group

   $ sudo usermod -a -G dialout $USER

2. Logout of the OS and log in again for the permission to take effect

Teleoperation Twist Keyboard Package Installation

Install the package of Teleoperation Twist Keyboard

    $ sudo apt-get install ros-indigo-teleop-twist-keyboard

Install OpenCV

• The easiest way to install openCV (if you do not have it installed already) is to do:

sudo apt-get install libopencv-dev python-opencv 

• If the above resulted in errors, then perhaps the following resource might be useful: http://milq.github.io/install-opencv-ubuntu-debian/

Install USB camera drivers

• In your home workspace\src

sudo apt-get install ros-indigo-usb-cam

Download HaarCascade file for image processing

• Download haarcascade_frontalface_default.xml file from https://github.com/opencv/opencv/tree/master/data/haarcascades and save it in your designated ros_package/scripts folder, which contains the script that uses the haar cascade.

Install turtle simulator (if no physical robot is available)

sudo apt-get install ros-indigo-turtlesim