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Workstation packages installation

Overview

In this section you will find the guide to install all required packages for the workstation.

ROS installation

In order to fully test the robots features we recommend using:

· Ubuntu 16.04 LTS

· ROS Kinetic

The Ubuntu installation is beyond the scope of this tutorial, please refer to: http://www.ubuntu.com/download/desktop/install-ubuntu-desktop

We recommend following the tutorial for ROS Kinetic install on ROS Wiki: http://wiki.ros.org/kinetic/Installation/Ubuntu

Please note that the Desktop-Full Install configuration is mandatory in order to test all functionalities of the robot:

$ sudo apt-get install ros-kinetic-desktop-full

To test your installation, please proceed to the ROS Tutorials http://wiki.ros.org/ROS/Tutorials

Workstation packages installation

After Creating your catkin_ws and the src folder, download the Mini-Lab workstation packages minilab_workstation from the GitHub repository: https://github.com/Enova-Robotics/Mini-Lab.

For ROS Kinetic and later you should install some packages before compiling the workspace.

$ sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-robot-state-publisher ros-kinetic-move-base ros-kinetic-amcl ros-kinetic-depthimage-to-laserscan ros-kinetic-joy ros-kinetic-openni-camera ros-kinetic-rqt-image-view

To start using the Mini-Lab, you should copy all the packages folders from Mini-Lab-master/minilab_workstation/src/ to the folder directory catkin_ws/src/ of your workstation.

The packages should be ready after compiling the workspace:

$ cd ~/catkin_ws/
$ catkin_make

Normally now in your workspace you have the following packages ready to use:

- minilab_demo_hardware_remote : it contains different examples of launch files allowing you to control the robot remotely

- minilab_demo_simulation : it contains examples of launch files allowing you to control the simulation

- minilab_model : it contains the URDF model of Mini-Lab and several maps

- minilab_simulation : allows you to launch the Gazebo simulation

- minilab_teleop : allows you to teleop the mini-lab both simulated and real

- safe_teleop : allows Mini-Lab to avoid obstacles when it is moving around the environment

- minilab_navigation : allows Mini-Lab to navigate in a known environment

Next tutorial : http://wiki.ros.org/Mini-Lab/Tutorials/Workstation_gazebo


2020-08-08 12:18