pr2_toto_ws's Introduction

This workspace is used to simulate the PR2 robot with a compatible sensor suite with that of the Toto robot, with 12 sonar senors.

Known limitations:

Sonar sensors 8 & 9 are not implemented and only return max distance (255cm)
Sonar sensors 7 & 10 are only a 10-degree wedge, rather than 30-degree wedges found with other sensors.

Installation:

These are the installation instruction for Ubuntu Trusty (14.04). If using a different operating system, Step 4 may have a different folder name but the steps are the same.

Clone the repo to your computer to an easily accessible place (suggested: ~/) git clone --recursive -j8 https://github.com/curtiswest/pr2_toto_ws.git
Make the workspace with cd pr2_toto_ws

catkin_make
Source the generated setup script source devel/setup.bash
Setup the switchmotion machine to be executable
Open the folder /devel/lib

cd devel/lib
Create the directory for switchmotion.machine

`mkdir -p switchmotion.machine/Linux-x86_64/`

Copy the file libswitchmotion.so twice

`cp libswitchmotion.so switchmotion.machine/Linux-x86_64/switchmotion.so`

`cp libswitchmotion.so switchmotion.machine/Linux-x86_64/switchmotion`

Build the llfsms

cd ~/pr2_toto_ws/machines

bmake
Execute the simulation with the following commands, from the root directory of the pr2_toto_ws. NOTE: if you haven't sourced devel/setup.bash within your ~/.bashrc, you will need to run source devel/setup.bash in each new terminal you run these commands from.

roscore

roslaunch pr2_toto pr2_world.launch

After Gazebo initalises, execute one of the following,
```
 ./devel/lib/pr2_laserscan_to_toto_sonar/pr2_laserscan_to_toto_sonar_node

 ./devel/lib/pr2_laserscan_to_toto_sonar/pr2_fullrangelaserscan_to_toto_sonar_node
```
After sensor converter intialises, open terminal in machines directory:

cd ~/pr2_toto_ws/machines

../devel/lib/clfsm/clfsm -v ../devel/lib/switchmotion.machine stroll.machine/ avoid.machine/

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