Ikerlan

Installation on your own computer

Prepare your thirparty repos:

sudo apt update
sudo apt install python3-vcstool python3-pip python3-rosdep python3-colcon-common-extensions -y
cd <ros2-workspace>/src/
vcs import < ikerlan/thirdparty.repos

Please make sure that this last command has not failed. If this happens, run it again.

Install libusb, libftdi & libuvc

sudo apt install libusb-1.0-0-dev libftdi1-dev libuvc-dev

Install udev rules from astra camera, kobuki and rplidar

When you connect a piece of hardware to your pc, it assigns /dev/ttyUSB* to it. This will not have the necessary read/write permissions, so we will not be able to use it correctly. The solution is to set up some udev rules that creates a symlink with another name (example: /dev/ttyUSB0 -> /dev/kobuki) and grants it the necessary permissions.

cd <workspace-ros2>
sudo cp src/ThirdParty/ros_astra_camera/astra_camera/scripts/56-orbbec-usb.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/rplidar_ros/scripts/rplidar.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/kobuki_ftdi/60-kobuki.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

Move xtion calibration

Some cameras need a calibration file where they indicate, for example, their resolution, name, etc...

mkdir -p ~/.ros/camera_info
cp <ros2-workspace>/src/ThirdParty/openni2_camera/openni2_camera/rgb_PS1080_PrimeSense.yaml ~/.ros/camera_info

Building project

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF

About

This is a project made by the Intelligent Robotics Lab, a research group from the Universidad Rey Juan Carlos. Copyright © 2023.

Contributors:

• Alberto García
• Francisco Martín
• José Miguel Guerrero
• Juan Carlos Manzanares
• Juan Diego Peña
• Rodrigo Pérez

License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.