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arm_nav_correct
backitup_recovery
but_velodyne
gripper
kuri_mbzirc_sim-master
lms1xx
manual_drive
map_reader
mbzirc_c2_auto
mbzirc_c2_state
mbzirc_grasping
trac_ik_kinematics_plugin
trac_ik_lib
trac_ik_tests
vtrex_control
vtrex_description
vtrex_gazebo
vtrex_moveit
vtrex_navigation
vtrex_ur5_moveit
.gitignore
README.md

README.md

mbzirc_c2_auto

  1. Install ubuntu 14.04 LTS with auto-install updates enabled.

  2. sudo apt-get update

  3. sudo apt-get upgrade

  4. Install ros indigo (instructions from: http://wiki.ros.org/indigo/Installation/Ubuntu)

    • 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://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
    • sudo apt-get update
    • sudo apt-get install ros-indigo-desktop-full
    • echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
    • source ~/.bashrc
    • type "roscore" in terminal to confirm ros installation is working properly, ctl+c to kill it
  5. Setup a catkin workspace (instructions from http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

    • mkdir -p ~/catkin_ws/src
    • cd ~/catkin_ws/src
    • catkin_init_workspace
    • cd ~/catkin_ws
    • catkin_make
    • source devel/setup.bash
    • echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  6. Install ROS packages we use

    • sudo apt-get install ros-indigo-husky-*
    • sudo apt-get install ros-indigo-urg-*
    • sudo apt-get install ros-indigo-teleop-*
    • sudo apt-get install ros-indigo-rospy-*
    • sudo apt-get install git
    • sudo apt-get install ros-indigo-trac-ik*
    • sudo apt-get install ros-indigo-smach*
    • sudo dpkg -i libassimp3_3.0~dfsg-2_amd64.deb
    • sudo apt-get install ros-indigo-moveit-python ros-indigo-moveit-commander
    • sudo apt-get install xdot
    • sudo apt-get install ros-indigo-moveit*
    • sudo apt-get install ros-indigo-velodyn*
    • sudo apt-get install ros-indigo-usb-cam
  7. Install our packages

    • cd ~/catkin_ws/src
    • git clone https://github.com/johodges/mbzirc_c2_auto
    • cd ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/bin
    • sudo chmod +x *.py
    • sudo cp ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/sick_lms1xx.urdf.xacro /opt/ros/indigo/share/lms1xx/urdf
    • sudo cp ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/xdot.py /opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py
    • cd ~/catkin_ws
    • catkin_make
    • source devel/setup.bash
  8. Modifying the panel

    • Changing color: modify lines 29-41 in: mbzirc_c2_auto/mbzirc_c2_auto/gazebo_models/models/panel/model.sdf
    • Changing position/orientation: modify x, y, Y in: mbzirc_c2_auto/mbzirc_c2_auto/bin/panel.sh
  9. Running with SMACH:

    • roslaunch mbzirc_c2_auto ch2-smach.launch