This is a brief guide to installing the ROS-based software tools NAVIGATION_ORU developed at ORU in a set of previous project (SAUNA, SAVIE, Semantic Robot). The tools require full ROS installation and two external packages. The installation assumes you have Ubuntu 16.04 LTS [ROS Kinetic] or Ubntu 14.04 LTS [ROS Indigo].
Please refer to http://wiki.ros.org/kinetic/Installation/Ubuntu
$ sudo apt-get install ros-kinetic-map-server
Download the navigation_oru source tree into your catkin workspace (here we assume ~/catkin_ws):
$ cd ~/catkin_ws/src $ git clone https://github.com/OrebroUniversity/navigation_oru-release.git navigation_oru
Do not compile yet... please follow the instructions below first...
Two external external packages are required: ACADO Toolkit (provided in the source tree) and Meta-CSP Framework (available on GitHub).
- ACADO Toolkit (used for the orunav_path_smoother)
You need to build this package from source.
$ git clone https://github.com/acado/acado.git -b stable ACADOtoolkit $ cd ACADOtoolkit $ mkdir build $ cd build $ cmake .. $ make $ sudo make install
(feel free to remove the ACADOtoolkit tree now)
$ cd ~/catkin_ws $ catkin_make #Read below before catkin_make
NOTE: the default build type is in DEBUG mode - some packages as the constraint extractor work way faster if they are built in RELEASE mode. Change the build into RELASE mode by: $ catkin_make -DCMAKE_BUILD_TYPE=Release
Update the GAZEBO_MODEL_PATH variable, add the following to your ~/.bashrc file:
export GAZEBO_MODEL_PATH=/home//catkin_ws/src/navigation_oru/gazebo_oru/models:$GAZEBO_MODEL_PATH
This is needed inorder to be able to load the different environements (otherwise you get "no namepace found" messages and an empty world).