AmigomatedDriving

This repository should contain all files to run a limited automated driving software on an AmigoBot, controlled by a Udoo, using ROS with ROSAria.

For a very brief overview over ROS, see the ROS primer.

set up this repo

Since some of the packages come from external git repositories and are included as git submodule (folder src/external/) run

git submodule update --init

after cloning this repository; see here for more info on submodules.

work with packages: catkin workspace

Add the src folder to a catkin workspace (i.e. create another workspace and link this src to the src there), or just create a workspace in the current directory (catkin init), so that src is used as source path for the workspace. For the latter case see the Quick Start below.

Note: The .gitignore already ignores the build/devel/... folders for a default catkin workspace layout.

Quick Start

Tested with Ubuntu 16.04 and ros kinetic. If you use a VM with ros already installed, you can skip the first steps (see "start here ..." below).

1. Install ros as described here. Note: Do not follow the instructions here because they install packages using dpkg (we only want to use apt-get or similar). Make sure, that you have installed python-catkin-tools as well.

2. Initialize rosdep

    sudo rosdep init  # if you have not done this before
   

3. Install all dependencies for this software (start here if you had ros already installed)

    rosdep update
    sudo apt-get update  # or equivalent
    rosdep install --from-paths ./src --ignore-src --default-yes
   

4. Use this workspace:

   catkin init
   catkin build
   source devel/setup.bash  # you need to do this in every shell you want to use ros in

    rosrun rosaria RosAria _port:=10.0.126.14:8101
   

   if the robot is connected to your PC via WiFi or

    rosrun rosaria RosAria _port:=/dev/ttyUSB0
   

   if it is connected by USB-serial-cable and play with it

   rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.3, 0.0, 0.0]' '[0.0, 0.0, 0.0]'

See ROSARIA Wiki for more introductory stuff.

Alternatively see kopp/ros-dockers for how to build a docker image with the contents of this package.

Note You will need to source the devel/setup.bash every time you open a new terminal/start a new bashshell.

Hardware

See in hardware_catalogue for an overview of available hardware and how to use it.

Software

See in software_catalogue for some small ideas how to use the hardware provided here with ROS.

README.md

Please include a README.md in each catkin package and other folders which describes, what the purpose of the folder is/how it is organized etc.

LICENSE

All parts of the repository are under the license mentioned in the LICENSE file as long as it is not noted differently.

Trouble Shooting

catkin build produces Could not create symlink

It is possible, that the file system that you have your workspace in, does not support symbolic links. This happens, if you have the workspace cloned on a windows folder and shared this folder with your linux in a VM. A solution is to create a workspace somewhere else and just link the src folder into that (or move it)

	cd ~
    mkdir workspace
    cd workspace
    ln -s /media/share/amigomateddriving/src .
    catkin init
    catkin build

catkin build produces /usr/bin/env python\r: No such file or directory

You have dos line encodings in some file. Search for the offending string (e.g. ag python in the case above) to look for the file and then run dos2unix <file>.

You have not clue what goes on

To enable DEBUG logging, create a file, e.g. rosconsole.config, with the content

log4j.logger.ros=INFO

and export that file's name to

export ROSCONSOLE_CONFIG_FILE="/path/to/my/config/rosconsole.config"

before running the ros node.