Skip to content

3. Software Setup

Jump to bottom
Raf edited this page May 24, 2019 · 7 revisions

Software

Software will be by far the most tedious part of this whole setup. Everything in terms of setting up the software and getting it to run will be written here and after this section further sections in the wiki will define how to modify the software and tune everything correctly. If you would like you can skip ahead and do the tuning now or do it after.

Installing The Workspace

The first thing you'll want to do is cd into your SSD in my case cd /xavier_ssd/ and clone the repo to there. To do this do git clone https://github.com/Rafcin/Echo-Rover.git and wait for it to download.

Next you need to build the whole workspace so you'll run catkin build . where the dot represents all items like * on ubuntu represents all. Now keep in mind instead of using catkin_make like most people do, we will use catkin build becuase it works much better and is able to tell you more about what you compile. If you want to know more about catkin build refer to here and read the cheatsheet.

Once you have the project built and it has compiled correctly you can then launch the system. Anytime you open a new terminal instance in your project home directory you need to run the command source devel/setup.bashand your good to go then to launch your files.

To start the robot you can run roslaunch edgebot_bringup main.launch this file will launch the whole system. This launch file contains all the other launch files that will activate the appropriate nodes. If you open the launch file you will also find that is laid out neatly to allow you to simply disable and enable certain nodes.

  <!-- ON|OFF Rtabmap -->
  <arg name="rtab"         default="true"  />
  <!-- ON|OFF Lidar -->
  <arg name="motors"       default="true"  />
  <!-- ON|OFF Localization -->
  <arg name="tele"         default="true"  />
  <!-- ON|OFF Move -->
  <arg name="move"         default="true"  />
  <!-- ON|OFF Exploration -->
  <arg name="explore"      default="false"  />
  <!-- ON|OFF Zed -->
  <arg name="zed"          default="false"  />
  <!-- Find Objects -->
  <arg name="findobjects"  default="true" />
  <!-- Explore Lite -->
  <arg name="exlite"       default="true" />
  <!-- RPLIDAR ON|OFF -->
  <arg name="lidar"        default="true" />
  <!-- OBJD ON|OFF -->
  <arg name="objd"         default="false" />

Clone this wiki locally