Open-robot

Purpose

Open-robot is the main ROS package of Open Source Robot.
Open Source Robot now provides 2D-SLAM and Navigaiton functionalities. You can also find the hardware and Arduino firmware repository in that project. If you want to build your own robot, our repositories may save your time.
More information about Open Source Robot is on our web page.

Demo Video

Dependencies

1. Install ROS in ubuntu 14.04, Desktop-Full Install is recommended.

2. Some ROS packages are needed. Run the following command to install.

    sudo apt-get install ros-indigo-joy ros-indigo-smart-battery-msgs 
    sudo apt-get install ros-indigo-gmapping ros-indigo-robot-pose-ekf ros-indigo-map-server
    sudo apt-get install ros-indigo-costmap-2d ros-indigo-dwa-local-planner ros-indigo-move-base ros-indigo-amcl
    sudo apt-get install ros-indigo-librealsense
   

Building

1. Clone open-robot in /src directory of your ros workspace.

    git clone https://github.com/open-robot/open-robot.git
   

2. Several ROS packages are maintained in git sub module, use the following command to fetch the source code.

    cd src/open_robot
    git submodule init
    git submodule update
   

   After success, the submodule realsense, rplidar_ros etc is stored in the same directory of open robot.

3. Compile open-robot In your catkin workspace

    catkin_make
   

Start

1. Make sure the usb device has permission. If you are, like us, using cp2102 as your USB to UART bridge, write a 51-usb-tty.rules file with the following content.

    SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", GROUP="users", MODE="0666"
   

Then run the following command in terminal to copy 51-usb-tty.rules to /etc/udev/rules.d and reboot.

	sudo cp -p 51-usb-tty.rules /etc/udev/rules.d/51-usb-tty.rules
	sudo reboot

2. To configure ROS Environment for open-robot, run the following command in terminal.

    echo "source <Your catkin workspace path>/devel/setup.bash" >> ~/.bashrc
   

3. Start open-robot.

    roslaunch robot_bringup demo_start.launch
   

2D-SLAM on open-robot

1. To run Google Cartographer on open-robot, refer to this README_open_robot.rst in our repository.

2. Aside from Cartographger, you can use gmapping. After launching demo_start.launch, run the following command.

    roslaunch robot_slam gmapping.launch
   

3. (Optional) Start rviz in a remote computer. About how to run ROS across multiple machines.

2D-Navigation on open-robot

1. Start open-robot.

    roslaunch robot_bringup demo_start.launch
   

2. Launch nav.launch after a map having been built.

    roslaunch robot_nav nav.launch
   

3. (Optional) Start rviz in a remote computer. About how to run ROS across multiple machines.

RealSense(optional)

Visual-SLAM is to be enabled soon. So now, Open-robot just uses RealSense camera R200 to capture images. It needs an additional library, refer to the guide at https://github.com/IntelRealSense/librealsense to complete the driver installation.

License

Copyright 2016 Intel Corporation

Licensed under the BSD