Difference between revisions of "ROS"

From RobotinoWiki
m
(Hardware)
(19 intermediate revisions by 4 users not shown)
Line 1: Line 1:
'''Attention: New ROS stack for Robotino will be available soon which reflects the new Robotino API2'''
 
 
==Introduction==
 
==Introduction==
The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API to ROS.
+
{|cellspacing="20" cellpadding="10"
 +
|- style="vertical-align:top"
 +
|[[Image:Robotino_ros_icon_64.png]]
 +
|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.
 +
! style="text-align:left; width:20em; background-color:#dddddd"|
 +
=== Package links ===
 +
[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.
 +
 
 +
[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.
 +
 
 +
[http://www.ros.org/wiki/robotino_kinect robotino_kinect] - If you own a [[Kinect]] sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.
 +
|}
 +
 
 
{{#ev:youtube|N7Gbe7vnufM}}
 
{{#ev:youtube|N7Gbe7vnufM}}
  
Line 9: Line 20:
 
Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].
 
Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].
  
Install the latest [http://doc.openrobotino.org/download/packages/ openrobotino1] package and install it (you do not need to set symlinks nor do you need to install the examples).
+
Install [[API2]] packages on Robotino.
  
 
Get the Robotino ROS drivers:
 
Get the Robotino ROS drivers:
  
<code>svn co http://svn.openrobotino.org/trunk/ros robotino-ros</code>
+
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg</code>
 +
 
 +
'''Hydro (Catkin)'''
 +
 
 +
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code>
 +
NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.
 +
 
 +
Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run
  
Put the robotino-ros into the ROS_PACKAGE_PATH. If everything is setup correctly you can run
+
<code>For Fuerte: rosmake robotino</code>
  
<code>rosmake robotino_drivers</code>
+
<code>For Hydro (after creating the appropriate workspace and checking out the code): catkin_make</code>
  
 
==Hardware==
 
==Hardware==
What you really need to use ROS in a meaningful way is a [http://servicerobotics.eu/en/robotinor/accessories/laser-rangefinder-for-robotinor/ laser rangefinder for Robotino].
+
What you really need to use ROS in a meaningful way is a [http://www.roboparts.de/robotino/scanner/en laser rangefinder for Robotino].
  
= Robotino API2 and ROS =
+
==Documents==
 +
[http://monticore.de/robotics/downloads/lab13.pdf RWTH Aachen: Lab Course Model-Based Robotics Software Development Implementation Notes]

Revision as of 07:28, 29 June 2016

Introduction

Robotino ros icon 64.png The Robot Operating System ROS hosted and maintained by Willow Garage is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.

Package links

robotino - Contains the essential packages for communicating with Robotino.

robotino_grappler - If you own a Grappler then this stack provides packages to manipulate it with ROS.

robotino_kinect - If you own a Kinect sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.

{{#ev:youtube|N7Gbe7vnufM}}

Installation

You will need a Linux (preferable Ubuntu) PC in order to run ROS. As we need much computational power for SLAM and especially path planning Robotinos PC104 is overstrained. So we use a laptop or desktop PC communicating to Robotino via wireless.

Install ROS. How to do this read the ROS installation instructions.

Install API2 packages on Robotino.

Get the Robotino ROS drivers:

svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg

Hydro (Catkin)

svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.

Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run

For Fuerte: rosmake robotino

For Hydro (after creating the appropriate workspace and checking out the code): catkin_make

Hardware

What you really need to use ROS in a meaningful way is a laser rangefinder for Robotino.

Documents

RWTH Aachen: Lab Course Model-Based Robotics Software Development Implementation Notes