1. Install ROS noetic

Setup computer to accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

sudo apt update
sudo apt install ros-noetic-desktop-full

Environment setup

source /opt/ros/noetic/setup.bash

It can be convenient to automatically source this script every time a new shell is launched. These commands will do that for you.

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Dependencies for building packages

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

Initialize rosdep

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

ROS tutorial

Create a ROS Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Sourcing any of these files will overlay this workspace on top of your environment. To understand more about this see the general catkin documentation: catkin. Before continuing source your new setup.*sh file:

source devel/setup.bash

To make sure your workspace is properly overlayed by the setup script, make sure ROS_PACKAGE_PATH environment variable includes the directory you're in.

echo $ROS_PACKAGE_PATH

2. Run simulation MPO-500

Clone packages from github

cd ~/arm_ros/catkin_ws/src

Packages for Simulation

git clone https://github.com/neobotix/neo_mpo_500.git
git clone https://github.com/neobotix/neo_simulation.git
git clone https://github.com/neobotix/neo_kinematics_mecanum
git clone https://github.com/neobotix/neo_relayboard_v2
git clone https://github.com/neobotix/neo_sick_s300.git
git clone https://github.com/neobotix/neo_teleop.git
git clone https://github.com/neobotix/neo_msgs.git
git clone https://github.com/neobotix/neo_srvs.git
git clone https://github.com/neobotix/neo_common.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git

Navigation Packages

git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/neobotix/neo_localization.git

Other dependencies

sudo apt install ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-tf2-sensor-msgs ros-$ROS_DISTRO-tf2-geometry-msgs

3. Run simulation SLAM-TEC

Build packages

cd ~/arm_ros/catkin_ws/src
git clone https://github.com/Slamtec/rplidar_ros.git
cd ..
catkin_make
source devel/setup.bash

Add permission

sudo chmod 666 /dev/ttyUSB0

Install dependence packages

sudo add-apt-repository ppa:rock-core/qt4
sudo apt-get update
sudo apt-get install libqtcore4
sudo apt-get install qt4-qmake qt4-dev-tools

Set the coordinate frame parameter (if be not yet setted)

sudo gedit ~/catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch

Search for these lines (lines 5 and 6 in my code).

	<arg name="base_frame" default="base_footprint"/>
	<arg name="odom_frame" default="nav"/>

Change those lines to this:

	<arg name="base_frame" default="base_link"/>
	<arg name="odom_frame" default="base_link"/>

Now go to the end of this file, and find these lines (line 54 in my code).

Change those lines to this (be sure to remove the comment tags (<!–- and -–>):

Save the file, and return to the terminal window.

Type the following command.

cd ~/catkin_ws/src/hector_slam/hector_slam_launch/launch
gedit tutorial.launch

Find this line (line 7 in my code).

	<param name="/use_sim_time" value="true"/>

Change that line to:

	<param name="/use_sim_time" value="false"/>

Save the file, and close it.

cd ~/catkin_ws/
catkin_make
source devel/setup.bash

Run simulation

NOTE: Each terminal needs to be re-run the following command to be able to use roslaunch.

source devel/setup.bash

roscore # termial 1
roslaunch rplidar_ros view_rplidar_s2.launch # terminal 2
roslaunch hector_slam_launch tutorial.launch # terminal 3

4. Install ODrivetool and GUI

Install Odrivetool

Install python3 and pip3 (If you already have python3 installed for ROS, just install pip3)

sudo apt-get install python3 python3-pip

Install odrivetool by opening a ternimal and typing

sudo pip install --upgrade odrive

Start Odrive

odrivetool

Build OdriveGUI

Clone repository

git clone https://github.com/odriverobotics/ODrive.git

Move GUI

cd ~/ODrive/GUI

Install NodeJS

sudo apt install nodejs

If version is old, update version NodeJS

sudo npm cache clean -f
sudo npm install -g n
sudo n stable

Install requirement packages

sudo npm install

Build project

Crlt + Shift + B

5. Reference

quanglv1996 / ros-robot-mpo500 Goto Github PK

ros-robot-mpo500's Introduction