Ceres

Maintainers

sudo apt install python-wstool
mkdir -p ~/ceres_ws

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

ceres-host
- exports the ROS_MASTER_URI
ceres-client [robot_name]
- sets your ROS to be a client on computers that have an RZ ID
ceres-client-ip [robot_name]
- sets your ROS to be a client on computers that do not have an RZ ID
ceres-ssh [robot_name]
- ssh's into the given robot
ssh-[robot_name]
- ssh's into the given robot
cmux
- starts a basic tmux session for ceres