Difference between revisions of "ROS"

From RobotinoWiki
m (Reverted edits by Denz (talk) to last revision by Suraj)
(Hardware)
Line 39: Line 39:
 
==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].
 +
 +
==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