Roch
Roch/Roch.png "Roch.png")
ROS Software Maintainer: Soy-Robotics
Roch(robot platform for commecial and home) integrated multiple different RGBD cameras and lidars like Microsoft's Kinect, Asus' Xtion Pro, Intel' Realsense 200 and Slamtec' Rplidar A1/A2 etc. Mainly used for business and family.
Contents
Show EOL distros:
Default we maintenance is Indigo. New usage in Kinetic.
In here has a roch image is avaliable ubuntu-14.04.5-desktop-amd64-roch-full.iso with ubuntu-14.04.5-desktop-amd64-roch-full.sha512sum
Installation
- There have two options install roch ROS packages, choose one of these for install.
1. Full installation
1.1. Debain installation
For Debain installation, you can type under command.
sudo apt-get install ros-indigo-roch-bringup ros-indigo-roch-navigation ros-indigo-roch-teleop ros-indigo-roch-follower ros-indigo-roch-rapps ros-indigo-roch-robot ros-indigo-roch-simulator ros-indigo-roch-viz
1.2. Source installation
For source installation, you can enter following command.
> sudo apt-get install python-rosdep python-wstool ros-indigo-ros > sudo rosdep init > rosdep update
If you created catkin workspace can skip under command, otherwise type following command:
> mkdir -p ~/catkin_ws/src > cd ~/catkin_ws
Compile code:
> wstool init -j5 src https://raw.github.com/Soy-Robotics/roch_robot/indigo/roch.rosinstall > rosdep install --from-paths src --ignore-src --rosdistro indigo -y > catkin_make
2. Optional installation
- Roch package contains applications of ROS packages, like roch_navigation, roch_follower and roch_teleop etc.
2. Installation with roch_robot
- Roch_robot package includes package lik drivers, roch_base, roch_ftdi, roch_bringup and roch_sensorpc etc.
3. Installation with roch_simulator
- Roch_simulator package has almost simulators, New simulator will be released in the future.
- Roch_viz is just for show roch in Rviz.
Installation
- There have two options install roch ROS packages, choose one of these for install.
1. Full installation
1.1. Debain installation
For Debain installation, you can type under command.
sudo apt-get install ros-kinetic-roch-bringup ros-kinetic-roch-navigation ros-kinetic-roch-teleop ros-kinetic-roch-follower ros-kinetic-roch-rapps ros-kinetic-roch-robot ros-kinetic-roch-simulator ros-kinetic-roch-viz
1.2. Source installation
For source installation, you can enter following command.
> sudo apt-get install python-rosdep python-wstool ros-kinetic-ros > sudo rosdep init > rosdep update
If you created catkin workspace can skip under command, otherwise type following command:
> mkdir -p ~/catkin_ws/src > cd ~/catkin_ws
Compile code:
> wstool init -j5 src https://raw.github.com/Soy-Robotics/roch_robot/kinetic/roch.rosinstall > rosdep install --from-paths src --ignore-src --rosdistro kinetic -y > catkin_make
2. Optional installation
- Roch package contains applications of ROS packages, like roch_navigation, roch_follower and roch_teleop etc.
2. Installation with roch_robot
- Roch_robot package includes package lik drivers, roch_base, roch_ftdi, roch_bringup and roch_sensorpc etc.
3. Installation with roch_simulator
- Roch_simulator package has almost simulators, New simulator will be released in the future.
- Roch_viz is just for show roch in Rviz.
Tutorials
1. Configure Your Roch
- Let roch Communicate with your pc with network.
- Know the meaning of parameter with Roch.
2. Bringup
- Roch bringup package' instructions.
3. Teleoperation
reference Turtlebot' Teleoperation.
- Teleoperation with keyboard and Joystick of Roch.
4. Navigation
SLAM map building with RGBD Sensors and lidar
- How to generate a map with RGBD Sensors and lidars.
5. Simulation
- Run Roch in Gazebo simulation.
6. Other things
- Roch follower with RGBD sensors and refrence turtlebot follower.
- Auto explore of SLAM
- Auto explore with SLAM and without manual control.
7. Software
AutoRoch is a GUI tool for beginners which is developed independently by Soy Robotics, it can help beginners quickly understand ROS and the working principle of the Roch, more information please visit: http://wiki.ros.org/autoroch.
We encourage you to use this GUI program, at the same time is also encourage you to submit the problems existing with using the program. Abort bugs report, please click https://github.com/Soy-Robotics/AutoRoch/issues/new.
The test version is currently available, and the official version will be released later.