Installation (wstool from source)
By checking out from our repositories, you can always stay up to date with the latest version. Use the following commands to check out the OmnirobRobin stacks:
Install ROS software (ROS Indigo with Ubuntu 14.04 LTS is recommended, for using the ROS version of Gazebo5 the 64 bit version is required) at http://wiki/ROS/Installation, please select Ubuntu platform.
- Use ros-indigo-desktop-full packages at the installation page (recommended)
Create a catkin workspace (see Catkin Tutorial)
Install wstool (if not already installed) (see wstool Tutorial)
- Switch to catkin workspace into src folder
Add OmnirobRobin repositories
wstool init wstool set omnirob_robin --git https://github.com/robinJKU/omnirob_robin.git wstool update
Install Kinect driver: Step 3 from the IAI Kinect2 Install procedure: IAI Kinect2 install
Build catkin workspace (see Catkin Tutorial)
cd .. catkin_make
- Remove old Gazebo version
sudo apt-get remove ros-indigo-gazebo-ros
Install newest Gazebo (from the tutorial Gazebo 5 Install)
wget -O /tmp/gazebo5_install.sh http://osrf-distributions.s3.amazonaws.com/gazebo/gazebo5_install.sh; sudo sh /tmp/gazebo5_install.sh
- Install ros-gazebo dependencies and ros-control
sudo apt-get install ros-indigo-gazebo5-* ros-indigo-ros-control ros-indigo-ros-controllersThe Gazebo5 packages are only avaiable for 64 bit versions of Ubuntu.
Bringup the real robot
Launch a roscore on the task board
On the RTAI board type
and start the Hardware interfaces
now the robot is ready to receive commands.
Bringup the Gazebo simulation
To start the simulation for the OmnirobRobin robot type:
roslaunch omnirob_robin_bringup simulation.launch
This starts Gazebo and loads all relevant nodes for controlling the robot, the simulated Kinect and the simulated laserscanner.
There are custom AR markers in the omnirob_robin_gazebo package, to use them add the following line to your .bashrc: