RobAFISApplication
Stock transporting robotic application using two pioneers
Installation
Install Ubuntu
Ros Indigo supports Ubuntu Saucy (13.10) and Trusty (14.04).
For more supported OSs check Ros Wiki - Indigo Installation
Install ROS
Follow the installation process on ROS Wiki, Indigo installation on Ubuntu
Install other needed packages
Some packages needed to run the application
sudo apt-get install ros-indigo-urdf ros-indigo-tf ros-indigo-gazebo-plugins ros-indigo-control-msgs
Install Gazebo
Install Gazebo 4, them its plugins.
wget -O /tmp/gazebo4_install.sh http://osrf-distributions.s3.amazonaws.com/gazebo/gazebo4_install.sh; sudo sh /tmp/gazebo4_install.sh
sudo apt-get install ros-indigo-gazebo4-plugins
gazebo
Create a Workspace
Follow the first tutorial from ros wiki tutorials.
Installing and Configuring the Envrionment
Make sure the ownership of your workspace folder is attributed to the user that installed ROS when executing catking_init_workspace
.
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
Clone RobAFISApplication
Clone this repository anywhere, then move the src to your workspace src and the product model to your gazebo folder
cd ~
git clone https://github.com/edusig/RobAFISApplication.git
cd RobAFISApplication
mv src/* ~/catkin_ws/src
mkdir -p ~/.gazebo/models
cp -r product ~/.gazebo/models/
cd ..
rm -rfv RobAFISApplication
Run catkin_make once
Try compiling the program and verify id everything is working fine.
cd ~/catkin_ws
catkin_make
Usage
To execute everything we will need three terminal tabs. One will run rosore, the second will run most nodes and gazebo simulator and the third will run the operation node that sends commands to the application.
roscore
Just run this while inside your workspace (~/catkin_ws/).
cd ~/catkin_ws
roslaunch src/robot_control/launch/master.launch
Then in another terminal.
cd ~/catkin_ws
rosrun robot_control operation