techLab

Code für das Techlab

PC einrichten

1. Ros ONE installieren

   Configure ROS One apt repository

   sudo apt install curl
   sudo curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg
   echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros1.list
   echo "# deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main-dbg" | sudo tee -a /etc/apt/sources.list.d/ros1.list
   

   Install and setup rosdep

   Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!

   sudo apt update
   sudo apt install python3-rosdep
   sudo rosdep init
   

   Define custom rosdep package mapping

   echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-one.list
   rosdep update
   

   Install packages, e.g. ROS desktop

   sudo apt install ros-one-desktop
   

2. PC Einstellungen für Dobot

   sudoedit /etc/udev/rules.d/50-myusb.rules
   

   KERNEL=="ttyUSB[0-9]*",MODE="0666"
   KERNEL=="ttyACM[0-9]*",MODE="0666"
   

   sudo nano .bashrc
   

   add this to .bashrc

   source /opt/ros/one/setup.bash
   source /home/rosmatch/catkin_ws/devel/setup.bash
   

3. Repo clonen

   mkdir catkin_ws
   cd catkin_ws/
   mkdir src
   cd src/
   sudo apt install git
   sudo apt-get install python3-catkin-tools
   sudo apt install ros-one-joy
   sudo apt update
   sudo apt install libqt5serialport5
   git clone https://github.com/match-ROS/techLab
   cd ..
   catkin build
   

4. Autostart einrichten

   cd 
   mkdir bin
   cd bin
   nano start_dobot_teleop.sh
   

   code aus start_dobot_teleop.sh (oder ganze Datei) kopieren. Datei speichern und

   chmod +x start_dobot_teleop.sh 
   

   dann

   nano ~/.config/systemd/user/dobot-teleop.service
   

   code auf dobot-teleop.service kopieren. speichern und ausführen:.

   systemctl --user daemon-reload
   systemctl --user enable --now dobot-teleop.service