Godel

Application for demonstrating surface blending with ros

Godel: Austrian logician and mathematician http://en.wikipedia.org/wiki/Kurt_G%C3%B6del

Installation

• Install wstool in order manage the repos inside the workspace

  sudo apt-get install python-wstool
  

• Cd into the 'src' directory of your catkin workspace and run the following:

  wstool init . 
  wstool merge https://github.com/ros-industrial-consortium/godel/raw/hydro-devel/godel.rosinstall
  wstool update
  rosdep install --from-paths . --ignore-src
  cd ..
  catkin_make
  

Applications

• Run blending demo in full simulation mode (simulated robot and sensor)

  roslaunch godel_surface_detection robot_blending.launch
  

• Run blending demo in robot simulation mode (simulated robot and real sensor data)

  roslaunch godel_surface_detection robot_blending.launch sim_sensor:=false
  

• Run blending demo in sensor simulation mode (real robot and simulated sensor)

  roslaunch godel_surface_detection robot_blending.launch sim_robot:=false robot_ip:=[robot ip]
  

• Run blending demo in full real mode (real robot and sensor)

  roslaunch godel_surface_detection robot_blending.launch sim_sensor:=false 
  sim_robot:=false robot_ip:=[robot ip]