Labs for Robotics
- Install ROS (Kinetic or newer) using the following command:
sudo apt-get update
sudo apt-get install ros-<your distribution>-desktop-full
- Ubuntu OS (16.04 or newer) is highly recommended. However, ROS can be installed on other operating systems.
Run catkin_init_workspace inside of the src directory and two folders will be created in the base workspace directory, build and devel. In order for ROS to know where your workspace is, you will either need to run source devel/setup.bash once per terminal, or put this command inside of your .bashrc within your home directory.
The labs require Gazebo simulation, which is built into ROS. Launch it by following the instructions below:
Pioneer (Labs 1 - 3)
roslaunch p2os_urdf pioneer3dx.gazebo.launch
Husky (Lab 4 and 5)
First install Husky:
- Kinetic:
sudo apt-get update
sudo apt-get install ros-kinetic-husky-*
- Melodic:
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-melodic-twist-mux
sudo apt-get install ros-melodic-robot-localization
sudo apt-get install ros-melodic-imu*
sudo apt-get intalll ros-melodic-nmea*
sudo apt-get install ros-melodic-urdf*
sudo apt-get install ros-melodic-um7
cd ~/CSE180/src
wget http://robosrv.ucmerced.edu/husky.tgz
tar zxvf husky.tgz
cd ~/CSE180
catkin_make
For both distributions, launch Husky Gazebo the same way:
roslaunch husky_gazebo husky_playpen.launch
Husky with Launch File (Lab 6 and On)
roslaunch assignments husky_navigate.launch
To test in gazebo, enter the below input according to your node:
rosrun assignments <your-node>