A collection of description, launch, configuration, and installation files for the Donbot robot at the Institute for Artificial Intelligence.
source /opt/ros/kinetic/setup.bash # start using ROS kinetic
mkdir -p ~/homer_ws/src # create directory for workspace
cd ~/homer_ws # go to workspace directory
catkin init # init workspace
cd src # go to source directory of workspace
wstool init # init rosinstall
wstool merge https://raw.githubusercontent.com/code-iai/iai_donbot/master/rosinstall/catkin.rosinstall
# update rosinstall file
wstool update # pull source repositories
rosdep install --ignore-src --from-paths . # install dependencies available through apt
cd .. # go to workspace directory
catkin build # build packages
catkin build # build again because img_eml will fail the first time :(
source ~/homer_ws/devel/setup.bash # source new overlay
This has to be executed on homer:
roslaunch iai_donbot_bringup bringup.launch
If the ur5 is not turned on, you will see some error messages but the base will work just fine.