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Ubuntu 14.04

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Install Ubuntu 14.04

http://www.ubuntu.com/download/desktop/install-ubuntu-desktop

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ROS Indigo

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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

sudo apt-get update

sudo apt-get install ros-indigo-desktop-full

sudo rosdep init

rosdep update

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

sudo apt-get install python-rosinstall

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p3dx in Gazebo

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sudo apt-get install ros-indigo-urdf ros-indigo-ros-control ros-indigo-sensor-msgs ros-indigo-tf ros-indigo-move-base-msgs ros-indigo-amcl ros-indigo-map-server ros-indigo-gmapping ros-indigo-move-base

git clone https://github.com/arebgun/erratic_robot.git

sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control

erratic-robot doesn’t appear to use catkin yet? use rosmake inside of it to build what you need

rosrun erratic_teleop erratic_keyboard_teleop

[[[ copy /home/aifs2/group/robots/ua_ros_p3dx to your local catkin_ws/src ]]]

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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