Difference between revisions of "ROS"

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'''Attention: We are currently working on a set of new ROS stacks for Robotino's new API2 but we are not ready to release them yet. However, you may check them out and experiment with them but please bear in mind that the stacks undergo changes everyday and may break your code. The new ROS stacks are:'''
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==Introduction==
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# [http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.
 
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# [http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.
 
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# [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.
 
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==Introduction [Old API, no longer supported]==
 
 
{|cellspacing="20" cellpadding="10"
 
{|cellspacing="20" cellpadding="10"
 
|- style="vertical-align:top"
 
|- style="vertical-align:top"
 
|[[Image:Robotino_ros_icon_64.png]]
 
|[[Image:Robotino_ros_icon_64.png]]
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|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.
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|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"|
 
! style="text-align:left; width:20em; background-color:#dddddd"|
 
=== Package links ===
 
=== Package links ===
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[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.
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[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.
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[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}}
  
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==Installation [Old API, no longer supported]==
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==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.
 
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 [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].
  
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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).
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Install [[API2]] packages on Robotino.
  
 
Get the Robotino ROS drivers:
 
Get the Robotino ROS drivers:
  
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<code>svn co http://svn.openrobotino.org/trunk/ros robotino-ros</code>
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<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg</code>
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'''Hydro (Catkin)'''
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<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code>
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NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.
  
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Put the robotino-ros into the ROS_PACKAGE_PATH. If everything is setup correctly you can run
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Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run
  
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<code>rosmake robotino_drivers</code>
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<code>For Fuerte: rosmake robotino</code>
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<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://www.roboparts.de/robotino/scanner/en 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].
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==Documents==
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[http://monticore.de/robotics/downloads/lab13.pdf RWTH Aachen: Lab Course Model-Based Robotics Software Development Implementation Notes]

Revision as of 08:28, 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

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