mbzirc_c2_auto

1. Install ubuntu 14.04 LTS with auto-install updates enabled.

2. sudo apt-get update

3. sudo apt-get upgrade

4. Install ros indigo (instructions from: http://wiki.ros.org/indigo/Installation/Ubuntu)

   • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
   • sudo apt-get update
   • sudo apt-get install ros-indigo-desktop-full
   • echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
   • source ~/.bashrc
   • type "roscore" in terminal to confirm ros installation is working properly, ctl+c to kill it

5. Setup a catkin workspace (instructions from http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

   • mkdir -p ~/catkin_ws/src
   • cd ~/catkin_ws/src
   • catkin_init_workspace
   • cd ~/catkin_ws
   • catkin_make
   • source devel/setup.bash
   • echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

6. Install ROS packages we use

   • sudo apt-get install ros-indigo-husky-*
   • sudo apt-get install ros-indigo-urg-*
   • sudo apt-get install ros-indigo-teleop-*
   • sudo apt-get install ros-indigo-rospy-*
   • sudo apt-get install git
   • sudo apt-get install ros-indigo-trac-ik*
   • sudo apt-get install ros-indigo-smach*
   • sudo apt-get install ros-indigo-moveit-python ros-indigo-moveit-commander
   • sudo apt-get install xdot
   • sudo apt-get install ros-indigo-moveit*
   • sudo apt-get install ros-indigo-velodyn*
   • sudo apt-get install ros-indigo-usb-cam
   • sudo apt-get install ros-indigo-laser-scan-matcher

7. Install our packages

   • cd ~/catkin_ws/src
   • git clone https://github.com/johodges/mbzirc_c2_auto
   • git clone https://github.com/johodges/mbzirc_c2_simulation
   • cd ~/catkin_ws/src/mbzirc_c2_auto
   • sudo dpkg -i libassimp3_3.0~dfsg-2_amd64.deb
   • cd ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/bin
   • sudo chmod +x *.py
   • sudo cp ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/sick_lms1xx.urdf.xacro /opt/ros/indigo/share/lms1xx/urdf
   • sudo cp ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/xdot.py /opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py
   • cd ~/catkin_ws
   • catkin_make
   • source devel/setup.bash

8. Modifying the panel

   • Changing color: modify lines 29-41 in: mbzirc_c2_auto/mbzirc_c2_auto/gazebo_models/models/panel/model.sdf
   • Changing position/orientation: modify x, y, Y in: mbzirc_c2_auto/mbzirc_c2_auto/bin/panel.sh

9. Running with SMACH:

   • roslaunch mbzirc_c2_auto ch2-smach.launch