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Mar 1, 2018

raspigibbon_ros

About

ROS package suites of Raspberry Pi Gibbon Controller

Requirements

requires the following to run controller on Raspberry Pi 3:

  • Ubuntu
    • Ubuntu Xenial 16.04
      • Ubuntu MATE 16.04.1 recomended
  • ROS
    • ROS Kinetic
  • Device Driver

Installation

Raspberry Pi on Raspberry Pi Gibbon

First, install the latest stable version of ROS Kinetic.

sudo apt install ros-kinetic-ros-base

Next, install the latest stable version of raspigibbon_driver.

cd ~/
git clone https://github.com/Tiryoh/raspigibbon_driver_installer.git
cd raspigibbon_driver_installer
sudo make install

Then, download this repository into ~/catkin_ws/src and build it.

cd ~/catkin_ws/src
git clone https://github.com/raspberrypigibbon/raspigibbon_ros.git
cd ~/catkin_ws && catkin_make && source ~/catkin_ws/devel/setup.bash

Ubuntu x64

First, install the latest stable version of ROS Kinetic.

sudo apt install ros-kinetic-desktop-full

Next, download this repository into ~/catkin_ws/src and build it.

cd ~/catkin_ws/src
git clone https://github.com/raspberrypigibbon/raspigibbon_ros.git
cd ~/catkin_ws && catkin_make && source ~/catkin_ws/devel/setup.bash

Usage

Raspberry Pi on Raspberry Pi Gibbon

joint data publisher mode

roslaunch raspigibbon_bringup raspigibbon_joint_publisher.launch

joint data subscriber mode

roslaunch raspigibbon_bringup raspigibbon_joint_subscriber.launch

Ubuntu x64

joint data publisher mode

roslaunch raspigibbon_description display_urdf.launch
roslaunch raspigibbon_bringup rviz_joint_publisher.launch

joint data subscriber mode

roslaunch raspigibbon_description display_urdf.launch
roslaunch raspigibbon_bringup rviz_joint_subscriber.launch

License

This repository is licensed under the MIT license, see LICENSE.

Unless attributed otherwise, everything is under the MIT license.

Includings

About

ROS package suite of Raspberry Pi Gibbon Controller

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