icart

About

icart packages provides robot models regarding i-Cart series, simulation environments and ypspur control bridge on ROS.

install

for catkin build

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install python3-catkin-tools
catkin build

build

cd ~/catkin_ws/srcgit clone -b noetic-devel https://github.com/open-rdc/icart
wstool init
wstool merge orne-box/orne_box_pkgs.install
wstool up
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build

set parameters

modify parameters if you need

cd ~/catkin_ws/src/icart/icart_mini_setup/config
vi icart-mini.param

cd ~/catkin_ws/src/icart/icart_mini_setup/scripts
./create_robot_params
./create_udev_rules

Teleoperation with a joystick

$ roslaunch icart_mini_driver teleop_joy.launch

License

Copyright (c) 2014 - 2015, Daiki Maekawa and Chiba Institute of Technology. (BSD License)