See Robots/CIR-KIT-Unit03 for instructions and tutorials.

About

Installation and application packages for CIR-KIT-Unit03.

Installation

The following commands grab all required packages for CIR-KIT-Unit03 navigation with rosdep and wstool, and then execute catkin_make and catkin_make run_tests.

Clone this repository.

$ cd <catkin_ws>/src
$ git clone https://github.com/CIR-KIT-Unit03/cirkit_unit03_apps.git

Run install script.

cd <catkin_ws>/src/cirkit_unit03_apps
sh install.sh

• optional arguments:
  • -h: show the help message and exit

  • -i: eneble rosdep init

  • -t: enable catkin_make run_tests

  • -r: remove existing src/.rosinstall

Applications

• cirkit_unit03_autorun

  • runs whole packages for autonomous driving, such as the navigation related (move_base, amcl), the sensor control related (ira_laser_tools, filtered via laser_filters) and the simulation related (Gazebo) with utility nodes (timed_roslaunch) also for stable execution of system.

  • All of them are launched from packages with prefix cirkit_unit03, whose parameters are already set up in each package.

Configuration

Basical packages for CIR-KIT-Unit03

Cloned via cirkit_unit03_pkgs.rosinstall

• cirkit_unit03_common

  • cirkit_unit03_control

  • cirkit_unit03_description

• cirkit_unit03_navigation

  • cirkit_unit03_amcl

  • cirkit_unit03_gmapping

  • cirkit_unit03_maps

  • cirkit_unit03_move_base

• cirkit_unit03_robot

  • cirkit_unit03_base

  • cirkit_unit03_bringup

• cirkit_unit03_simulator

  • cirkit_unit03_gazebo

Dependent packages for CIR-KIT-Unit03

Cloned via cirkit_unit03_apps.rosinstall

• ira_laser_tools

• lower_step_detector

• steer_drive_ros

  • steer_bot_hardware_gazebo

  • steer_drive_controller

  • stepback_and_steerturn_recovery

Directory configuration after Installation

<catkin_ws>
│
└ src
   │ 
   ├ cirkit_unit03_apps 
   │   │
   │   ├ cirkit_unit03_apps (Metapackage)
   │   │
   │   ├ cirkit_unit03_autorun
   │   │
   │   ├ human_detector (Cloned via cirkit_unit03_apps.rosinstall)
   │   │
   │   └ timed_roslaunch (Cloned via cirkit_unit03_apps.rosinstall)
   │
   ├ cirkit_unit03_deps (Just a directory, not a metapacage)
   │   |
   |   ├ ira_laser_tools (Cloned via cirkit_unit03_pkgs.rosinstall)
   │   |
   |   ├ lower_step_detector (Cloned via cirkit_unit03_pkgs.rosinstall)
   │   |
   │   └ steer_drive_ros (Cloned via cirkit_unit03_pkgs.rosinstall)
   │
   └ cirkit_unit03_pkgs
       |
       ├ cirkit_unit03_pkgs (Metapackage)
       |
       ├ cirkit_unit03_common (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       ├ cirkit_unit03_navigation (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       ├ cirkit_unit03_robot (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       └ cirkit_unit03_simulator (Cloned via cirkit_unit03_pkgs.rosinstall)