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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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