AmigomatedDriving

This repository should contain all files to run a limited automated driving software on an AmigoBot, controlled by a RaspberryPi3, using Ros with RosAria.

set up this repo

Since some of the packages come from external git repositories and are included as git submodule (folder src/external/) run

git submodule init && git submodule update

after cloning this repository; see here for more info on submodules.

work with packages: catkin workspace

Add the src folder to a catkin workspace (i.e. create another workspace and link this src to the src there), or just create a workspace in the current directory (catkin init), so that src is used as source path for the workspace. For the latter case see the Quick Start below.

Note: The .gitignore already ignores the build/devel/... folders for a default catkin workspace layout.

Quick Start

Tested with Ubuntu 14.04 and 16.04.1.

1. Install ros as described here. Note: Do not follow the instructions here because they install packages using dpkg (we only want to use apt-get or similar). Make sure, that you have installed python-catkin-tools as well.

2. Install all dependencies for this software

    sudo rosdep init # if you have not done this before
    git clone https://github.com/pal-robotics/aruco_ros.git src/external/aruco_ros # for ubuntu 16.04 only
    rosdep update
    sudo apt-get update # or equivalent
    rosdep install --from-paths ./src --ignore-src --default-yes
   

3. Use this workspace:

    catkin init
    catkin build
    source devel/setup.bash
   

4. Connect to the robot, see information in the util, e.g.

    rosrun rosaria RosAria _port:=10.0.126.14:8101
   

   and play with it

    rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.3, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
   

   See here for more introductory stuff.

Alternatively see here for how to build a docker image with the contents of this package.

Note You will need to source the devel/setup.bash every time you open a new terminal/start a new bashshell.

README.md

Please include a README.md in each catkin package and other folders which describes, what the purpose of the folder is/how it is organized etc.