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