- ROS
Installing dependencies:
sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-dwa-local-planner ros-melodic-cv-camera ros-melodic-hector-slam ros-melodic-effort-controllers
git clone https://github.com/TRA-UNAM/FinderV3.git
Change to the "ToInstall" directory:
cd ~/FinderV3/ToInstall/
Execute the file eBUS_SDK_4.1.7.3988_Ubuntu-14.04-x86_64.run:
sudo ./eBUS_SDK_4.1.7.3988_Ubuntu-14.04-x86_64.run
cd ~/FinderV3/catkin_ws
catkin_make
El último comando debe ejecutarse hasta llegar al 100% y sin mostrar mensajes de error (en letras rojas).
“source” del archivo “setup”
Es necesario agregar cada nuevo workspace que se compile con catkin al entorno de ROS. Para ello, correr el siguiente comando que hace “source” del nuevo archivo setup que se generó:
source ~/FinderV3/catkin_ws/devel/setup.bash
para no ejecutar este comando cada nueva terminal, es necesario agregar la siguiente línea al archivo .bashrc:
source ~/FinderV3/catkin_ws/devel/setup.bash
These instructions refer to run the simulation on RViz using the finder_fake package. In order to run that execute the command
roslaunch finder_fake finder_fake.launch
If the simulation was successfully launched, execute the following command to teleoperate the robot with the keyboard:
rosrun finder_teleop finder_teleop_key.py
These instructions refer to run the simulation on gazebo using the gazebo_ros package, which is installed by default with every ROS distribution. More info here: http://gazebosim.org/tutorials?tut=ros_overview
Before running the simulation, execute from the command line or add the following line to your .bashrc file (or .zshrc):
export GAZEBO_MODEL_PATH=${HOME}/FinderV3/catkin_ws/src/simulation/finder_gazebo/models
Execute the command:
roslaunch finder_gazebo finder_empty_world.launch
to test the FinDERv3 robot base in the gazebo default environment.
Execute the command:
roslaunch finder_gazebo finder_stage_4.launch
to test the FinDERv3 robot base in the turtlebot3 maze.
Execute the command:
roslaunch finder_gazebo finder_world_test.launch
to test the FinDERv3 robot base in a world with rough terrain.
Execute the command:
roslaunch finder_gazebo finder_circuit_2.launch
to test the FinDERv3 robot base in circuit.
Execute the command:
roslaunch finder_gazebo finder_crossover_ramps.launch
to test the FinDERv3 robot base in the Crossover Ramps test scenario.
Execute the following command to teleoperate the robot base with the keyboard:
roslaunch finder_teleop finder_teleop_key.launch