ROS

From RobotinoWiki
Revision as of 15:56, 24 February 2012 by Verbeek (talk | contribs) (Hardware)

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:

  1. robotino
  2. robotino_grappler
  3. robotino_kinect

Introduction [Old API, no longer supported]

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++ API to ROS.

Package links

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Installation [Old API, no longer supported]

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 the latest openrobotino1 package and install it (you do not need to set symlinks nor do you need to install the examples).

Get the Robotino ROS drivers:

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

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

rosmake robotino_drivers

Hardware

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