FurqanHabibi/keigan_motor

keigan_motor

Note

RealSense ROS wrapper version

• https://github.com/intel-ros/realsense/releases

Realsense SDK version

• https://github.com/IntelRealSense/librealsense/releases

Install RealSense SDK

Raspberry Pi

• https://github.com/IntelRealSense/librealsense/blob/master/doc/RaspberryPi3.md

Remote PC

• https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

Dependencies

Raspberry Pi and Remote PC

# clone realsense ROS module and install it's dependencies
$ mkdir -p ~/realsense_ws/src
$ cd ~/realsense_ws/src
$ git clone https://github.com/intel-ros/realsense
$ mv realsense/realsense2_camera .
$ rm -rf realsense/
$ cd ~/realsense_ws
$ rosdep install --from-paths src --ignore-src -r -y

# clone keigan_motor_driver and keigan_motor ROS modules and install it's dependencies
$ cd ~/catkin_ws/src
$ git clone https://github.com/FurqanHabibi/keigan_motor_driver
$ git clone https://github.com/FurqanHabibi/keigan_motor
$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src -r -y

Setup

Raspberry Pi and Remote PC

$ cd ~/realsense_ws
$ catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
$ catkin_make install
$ source devel/setup.bash
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

Raspberry Pi only

$ sh $(rospack find keigan_motor_bringup)/scripts/create_udev_rules.sh

Usage

Raspberry Pi

$ roslaunch keigan_motor_bringup keigan_motor.launch

Remote PC

Mapping

$ roslaunch keigan_motor_mapping gmapping.launch
$ rosrun map_server map_saver -f $(rospack find keigan_motor_navigation)/map/<map_name>

Navigation

$ roslaunch keigan_motor_navigation amcl.launch map_file:=<map_name>.yaml