The AUXOS ROS packages make use of the new Catkin build system and are designed for ROS Indigo. ROS should be installed following the instructions at: http://www.ros.org/. Additional information on Catkin can be found at: http://www.ros.org/wiki/catkin
The new wstool (http://www.ros.org/wiki/wstool) is also preferred to rosinstall and should be installed using:
sudo apt-get install python-wstool
The simulation portions of the packages require the MORSE simulator and the IS4S addtions to the simulator. These must be installed previously using:
cd ~/devel
git clone [email protected]:davidhodo/morse.git
cd morse
mkdir build
cd build
cmake -DBUILD_ROS_SUPPORT=ON ../
make
sudo make install
cd ~/devel
git clone https://github.com/davidhodo/is4s_morse_additions
cd is4s_morse_additions
mkdir build
cd build
cmake ../
sudo make install
Needed ROS stacks:
- standard ROS stacks (roscpp, rospy, etc…)
- joystick_driver
- actionlib
Create a folder to use for the ROS catkin workspace:
mkdir auxos_ws
cd auxos_ws
Depending on the target vehicle (simulation, Segway, Ranger EV, etc.) the workspace will be created with different rosinstall files. The repositories needed by all systems can be installed using the command
wstool init -j8 src https://raw.github.com/AUXOS/auxos-ros-pkg/master/rosinstall/complete.rosinstall
Additional packages can be added to the workspace using 'wstool set':
wstool set serial --git [email protected]:wjwwood/serial.git
wstool update
Build the workspace (from auxos_ws):
catkin_make
Additional packages not listed in the rosinstall files can be added to the workspace using wstool:
wstool set auxos_messages --git
wstool update [email protected]:GAVLab/auxos_messages.git
roslaunch segwayrmp400_sim teleop.launch
roslaunch segwayrmp400_sim test_path_following.launch
When the user interface window is displayed, click follow path and browse to "simple_path.txt" in segwayrmp400_sim/data.
The standard joystick_drivers package does not function
A list of all available rosinstall files in the package are given below: