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utexas-art-ros-pkg Robot Operating System package repository Jack O'Quin 10 Apr. 2010 The stacks directory contains initial versions of several ROS stacks, each with one or more ROS packages containing experimental versions of ART software converted to use ROS instead of player. Documentation for these packages is here: http://www.ros.org/wiki/utexas-art-ros-pkg Working with the ROS build system is difficult at first. Expect a steep learning curve. Working through some of the ROS tutorials is definitely worthwhile when starting out. Documentation: http://www.ros.org/wiki/ROS. The interfaces themselves are quite good. So are the visualization and debugging tools. And, there is an impressive amount of useful robotics software already available in the ROS package system. Directions: (1) Check out a copy of the ART code base with ROS interfaces Our packages have their own Google code project tree now. Check out the trunk in ~/svn/utexas-art-ros-pkg: $ cd $ mkdir svn $ cd ~/svn $ export ART=http://utexas-art-ros-pkg.googlecode.com/svn $ svn co $ART/trunk utexas-art-ros-pkg This creates a copy of the source tree without commit access. To commit changes yourself, create a google account and e-mail the project owners requesting commit access. Then, check out an editable copy following these directions: http://code.google.com/p/utexas-art-ros-pkg/source/checkout (2a)[for UT CS systems] Set up ROS environment pointing to the shared install: $ cd ~/svn/utexas-art-ros-pkg $ bash etc/utcs-env.sh >> ~/.bashrc (2b)[for individually-maintained systems] Install ROS as in http://www.ros.org/wiki/ROS/Installation This is time-consuming, but not especially difficult. Be careful to follow the directions exactly. It works fine on Ubuntu and can be made to work for Mac OSX with some effort. Windows will probably not work, but there are future plans to support it. Add the ROS environment setup to the end of your .bashrc: $ echo "source ~/ros/setup.sh" >> ~/.bashrc Append our packages as well as the ROS ones (this example does it from the shell, or you can use any editor): $ cat <<'EOF' >> ~/.bashrc export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/svn/utexas-art-ros-pkg EOF (3) If you want to run ART robot utility scripts directly from the shell, add this to your .bashrc: $ cat <<'EOF' >> ~/.bashrc ART_RUN=`rospack find art_run` if [ "$ART_RUN" != "" ] && [ -d $ART_RUN/bin ] then export PATH=$ART_RUN/bin:$PATH fi EOF (4) Log out and log back in. (5) Try to run some ROS commands: $ rospack find velodyne_common $ roscd velodyne_common $ rosmake velodyne This should compile cleanly. (6) There is a rosemacs package, highly recommended for serious software development on Linux or Unix. To get it working, I have to start emacs from a shell. I do not know how to start it from the GNOME panel icon with all the required environment variables set.
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ROS packages for UTexas and Austin Robot Technology driverless car
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