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
Git - Version Control
Install Git Software
Install the Git core components and some additional GUI's for the version control:
sudo apt-get install git-core gitg gitk
Set Up Git
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 "firstname.lastname@example.org"
If you have never worked with git before, we recommend to go through the following basic git tutorial:
ROS - Robot Operating System
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.
- 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:
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").
Set up a catkin workspace
source /opt/ros/kinetic/setup.bash mkdir -p ~/kinetic/src; cd ~/kinetic/src catkin_init_workspace catkin build
Clone and compile the MAS industrial robotics software
First of all you have to clone the repository.
cd ~/kinetic/src; git clone email@example.com:b-it-bots/mas_industrial_robotics.git
Then go on with installing further external dependencies:
cd ~/kinetic/src/mas_industrial_robotics ./repository.debs source ~/kinetic/devel/setup.bash
The last command should be added to the ~/.bashrc file so that they do not need to be executed everytime you open a new terminal.
And finally compile the repository:
cd ~/kinetic catkin build
If no errors appear everything is ready to use. Great job!
Setting the Environment Variables
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
Bring up the robot and it's basic components
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
At the Real Robot
roslaunch mir_bringup robot.launch
Test the base
roslaunch mir_teleop teleop_keyboard.launch
Visualize the robot state and sensor data
rosrun rviz rviz
Build a map for base navigation
roslaunch mir_2dslam 2dslam.launch
Use autonomous navigation
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.