container of the skynav navigation system
Dependencies
- Install ros-hydro-desktop-full, and this package will build.
-
Install ubuntu 12.04-LTS
http://www.ubuntu.com/ -
Install ros hydro
http://www.ros.org/install/
http://wiki.ros.org/hydro/Installation/Ubuntu -
Setup catkin workspace /home/[USER]/catkin_ws
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment -
Setup .bashrc
Source the workspace
source ~/catkin_ws/devel/setup.bash -
Git clone skynav and x80sv in the catkin_ws/src folder,
_(or somewhere else and create a symbolic link to the files in the catkin_ws/src folder.)for the navigation software: $ git clone https://github.com/SaxionLED/skynav.git
for the x80sv robot drivers: $ git clone https://github.com/SaxionLED/x80sv.git -
Setup serial ports to right setup and add useraccount to 'dialout' group
$ useradd -G dialout [USER] -
Export the files from x80sv/x80sv_driver/udev folder to /etc/udev/rules.d
for resolving the robot specific USB connections -
Run :~/catkin_workspace $ catkin_make to build the project
-
Run :~/catkin_workspace $ catkin_make run_tests to build and run the gtests and rostests
-
Connect the robot and laser via usb, or run a robot simulator in gazebo
-
Run :~/catkin_workspace $ roslaunch x80sv_bringup skynav_real_robot.launch to launch the full skynav navigation package including gmapping and x80 drivers
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or run :~/catkin_workspace $ roslaunch skynav_bringup skynav_launch for running only the skynav stack