MRLVR 2019
Here is MRL VR team source code from Qazvin Islamic Azad University.
Note: This is primiry version of readme.md file and it will be complete.
Getting Started
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
Prerequisites
What things you need to install the software and how to install them
- Ubuntu 16.04.3 LTS
- ROS Kinetic Desktop Full
- QTCreator 5.1
Installing
A step by step series of packages and softwares that you need to install them.
Install ROS Kinetic, Gazebo and QT Creator
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install git ros-kinetic-desktop-full ros-kinetic-hector-map-tools ros-kinetic-costmap-2d ros-kinetic-hector-marker-drawing ros-kinetic-nav-core ros-kinetic-base-local-planner ros-kinetic-navfn ros-kinetic-move-base
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Clone & build MRLVR 2019 project from gitlab repository:
git clone https://gitlab.com/mrlvr/vr2019.git
cd ~/vr2019
catkin_make
echo "source /home/[your username]/vr2019/devel" >> ~/.bashrc
source ~/.bashrc
Clone and & build RoboCup2018 Rescue Simulation Virtual Robot League Maps:
sudo apt-get install -y cmake g++ protobuf-compiler pavucontrol libignition-math3 libsdformat5 libignition-math3-dev libignition-msgs0-dev gazebo8-plugin-base libgazebo8 libgazebo8-dev ros-kinetic-desktop ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-image-view2 ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-message-to-tf ros-kinetic-tf2-geometry-msgs ros-kinetic-audio-common ros-kinetic-costmap-2d ros-kinetic-image-transport ros-kinetic-image-transport-plugins ros-kinetic-hector-mapping ros-kinetic-hector-geotiff Ros-kinetic-master-discovery-fkie ros-kinetic-master-sync-fkie ros-kinetic-pose-cov-ops
sudo apt-get install ros-kinetic-hector-pose-estimation ros-kinetic-hector-sensors-description ros-kinetic-controller-manager ros-kinetic-gmapping ros-kinetic-move-base ros-kinetic-hector-mapping ros-kinetic-gazebo8*
git clone https://github.com/reyhanehpahlevan/RoboCup2018RVRL_Demo.git
cd ~/RoboCup2018RVRL_Demo
./cleanup
catkin_make
Running the server
To run maps and spawn robots series of commands is need to run:
- Create run-server.sh file in your home direcotory:
gedit run-server.sh
- Copy these commands in file:
cd /home/your username]/RoboCup2018RVRL_Demo/
. setup.bash
roslaunch setup world_final_indoor_1.launch
-
Save file and close it
-
Run these command to set executable attribute on file:
chmod +x run-server.sh
- Create spawn-robot.sh file in your home direcotory:
gedit spawn-robot.sh
- Copy these commands in file:
cd /home/your username]/RoboCup2018RVRL_Demo/
. setup.bash
roslaunch robot_description spawn_multi_robots_final_indoor_1.launch
-
Save file and close it.
-
Run these command to set executable attribute on file:
chmod +x spawn-robot.sh
- Open Terminal 1:
./run-server.sh
- Open Terminal 2:
./spawn-robot.sh
Running the MRLVR 2019 GUI
Run bellow command to start mrl_rqt_dashboard:
rosrun rqt_gui rqt_gui
note: If you can not find mrl->dashboard menu from rqt_gui, run bellow command, after repeat previous command:
rqt --force-discover
Authors
-
Mohammad H. Shayesteh - Software developer - (m.h.shayesteh@gmail.com)
-
Mohammad M. Raeisi - Software Developer - (mahdrsi@gmai.com)
License
This project is licensed under the Mechatronics Research Laboratory(Qazvin Ismalic Azad University)