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ROS Setup

Page history last edited by Estuardo Carpio 5 years, 3 months ago Saved with comment

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Ubuntu 16.04

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Install Ubuntu 16.04

 

https://www.ubuntu.com/download/desktop 

 

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ROS Kinetic

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http://wiki.ros.org/kinetic/Installation/Ubuntu 

 

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Create catkin Workspace

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http://wiki.ros.org/catkin/Tutorials/create_a_workspace 

sudo apt-get install ros-kinetic-gazebo-*

 

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Install Gazebo Packages

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sudo apt-get install ros-kinetic-gazebo-*

 

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Pioneer 3DX in Gazebo

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http://people.oregonstate.edu/~chungje/Code/Pioneer3dx%20simulation/ros-indigo-gazebo2-pioneer.pdf

 

 

Then install teleop to move the robot with a keyboard or joystick:

sudo apt-get install ros-kinetic-teleop-twist-*

 

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cyton

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run the cyton viewer installer script:

 

cp /home/aifs2/group/robots/cyton/cytonGamma300R2ViewerSetup-3.3.3.a12de6-ubuntu-12.04-amd64.sh .

./cytonGamma300R2ViewerSetup-3.3.3.a12de6-ubuntu-12.04-amd64.sh

 

mv Cyton\ Gamma\ 300R2\ Viewer_3.3.3.a12de6/ Cyton_Gamma_300R2_Viewer_3.3.3.a12de6

 

git clone https://code.google.com/p/cyton-ros-pkg/

 

mv cyton-ros-pkg cyton

 

from cyton/docs/ros-cyton.pdf (at the end of the file there’s a readme)

 

add to your .bashrc:

 

export CYTON_INC="$ROS_WORKSPACE/src/Robai/Cyton_Gamma_300R2_Viewer_3.3.3.a12de6/include/"export CYTON_LIB="$ROS_WORKSPACE/src/Robai/Cyton_Gamma_300R2_Viewer_3.3.3.a12de6/lib/"export CYTON_BIN="$ROS_WORKSPACE/src/Robai/Cyton_Gamma_300R2_Viewer_3.3.3.a12de6/bin/"export CYTON_EE_FILE="/Robai/Cyton_Gamma_300R2_Viewer_3.3.3.a12de6/guide_frame.txt"

ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/skiesel/catkin_ws/src:/home/skiesel/catkin_ws/cyton

source ~/.bashrc

 

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SICK LMS5xx

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This requires a local ethernet connection to the device with a little configuration

 

Go to Network Connection / Edit Connections

 

Add a new Ethernet Connection called “Robot-Lidar”

 

Go to IPv4 Settings set the following fields:

 

Method: Manual

Address : 192.168.0.2

Netmask: 255.255.255.0

Gateway: 233.0.0.0

 

 

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