This is a ROS package for my home-built robot. The package requires

• Latest LTS release of Xubuntu
• Latest LTS release of ROS
• Arduino 1.6.8
• for a working tele-op panel in rviz: modified ROS Visualization Tutorials

Arduino libraries needed to compile the Arduino code for the low level controller:

• BMSerial github.com/KurtE/Orion/tree/master/Libraries/BMSerial
• LiquidCrystal_I2C www.archiduino.com/liquidcrystal_i2c-h-library-arduino-ide-1-6-x/
• RoboClaw 2x15A Motor Controller www.ionmc.com/downloads
• My own version of UM7 github.com/raphipaffi/UM7

(Most of these steps were copied from OculusPrime Setup)

• Download and install Xubuntu.
• When asked, set to Login Automatically.
• Connect to Wifi network and set to Automatically connect when available.
• Go to Settings > Software and Updates, change package repository reference to Main Server.
• Update currently installed packages:
  

$ sudo apt get update

• Install sshd for remote console connection:
  

$ sudo apt-get install openssh-server

• Install a VNC server for remote desktop:
  

$ sudo apt-get install x11vnc

• Open Setting > Session and Startup, select tab Application Autostart
• Add a new entry with comand line x11vnc -display :0 -loop -forever -shared
• Make sure that the system has a VIRTUAL display (check using xrandr in console)
• If not, create a .conf file in /usr/share/X11/xorg.conf.d/ with the following content:
  

Section "Device"
    Identifier     "Device0"
    Driver         "intel"
    Option         "VirtualHeads" "1"
EndSection

• Add a .sh file to the desktop with following content and make it executable:
  

#! /bin/bash
xrandr --newmode "1920x1080"  173.00  1920 2048 2248 2576  1080 1083 1088 1120 -hsync +vsync
xrandr --addmode VIRTUAL1 1920x1080
xrandr --output VIRTUAL1 --mode 1920x1080
xrandr --output DP2 --off

• Go to Settings > Light Locker Settings, turn everything to Off, set sliders to 0 minutes/never.
• Go to Settings > Power Manager, uncheck Monitor Power Management Control and go through the various tabs and set all the sliders to 0 minutes/never.
• If the system doesn’t shut down cleanly, sometimes the Grub boot manager will wait for a menu selection before booting. To avoid this, open the file /etc/default/grub and add the line:
  

GRUB_RECORDFAIL_TIMEOUT=0

• Run:
  

$ sudo update-grub

• In case of disk checking on startup, you’ll want the system to repair any problems automatically. Edit the file /etc/default/rcS and change the line containing: FSCKFIX=no, to FSCKFIX=yes.
• When applications crash, they ask if you want to send a report. Disable this feature by editing the file /etc/default/apport and change the line: enabled=1 to enabled=0.
• Go to Settings > Software and Udates and click on the Updates tab. Switch Automatically Check for Updates to Never
• It should be OK to work on the system remotely from here onward.
• Go to www.google.com/chrome/browser, download the 64-bit '.deb' package and install it using Software Center.
• Run Google Chrome from the menu once and choose set as default browser.
• Go to https://code.visualstudio.com/, download the '.deb' package and install it using Software Center.
• USB ports are only available to root by default in Ubuntu. To give yourself access:

$ sudo adduser user_name dialout

(Substitute “user_name” with your username. NOTE: reboot is required for this to take effect.)

(Most of these steps were copied from OculusPrime Setup)

• Install ROS following the instructions at http://wiki.ros.org/ROS/Installation. Choose 'Desktop-Full Install.'
• Install Git:
  

$ sudo apt-get install git

• Create a ROS Workspace in your home folder by entering:
  

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

• Clone the modified depthimage_to_laserscan package:
  

$ git clone https://github.com/xaxxontech/depthimage_to_laserscan.git

• Clone the default ROS openni2_camera package:
  

$ git clone https://github.com/ros-drivers/openni2_camera.git

• For the Orbbec Astra camera, drivers have to be installed manually:
  

$ mkdir ~/temp/
$ cd ~/temp/
$ wget http://www.xaxxon.com/downloads/orbbec_openni2_files.zip
$ unzip orbbec_openni2_files.zip
$ cd orbbec_openni2_files
$ sudo mv 558-orbbec-usb.rules /etc/udev/rules.d/
$ sudo adduser oculus video
$ sudo mv libopenni2.pc /usr/lib/pkgconfig/
$ cd /usr/lib/
$ sudo mv ~/temp/orbbec_openni2_files/libOpenNI2.so .
$ cd OpenNI2/
$ sudo mv ~/temp/orbbec_openni2_files/* ./Drivers/

• Add the new workspace to the default ROS environment by doing:
  

$ echo "source $HOME/catkin_ws/devel/setup.bash" >> ~/.bashrc

• Reboot.

sudo apt-get install ros-jade- git clone https://github.com/.git

rosrun rqt_reconfigure rqt_reconfigure rqt_console rqt_graph rqt_plot

rostopic echo sonar rostopic hz sonar

roscore roslaunch roboraider make_map.launch roslaunch roboraider navigation.launch roslaunch roboraider test_odom.launch