This README is obsolete and should be updated!!!
ROS packages modified for our Toad outdoor robot based on Pioneer 3-AT platform
Dependencies:
- P2OS stack (https://github.com/ZdenekM/p2os)
- IMU/GPS driver (https://github.com/ZdenekM/microstrain_3dm_gx3_45)
- some Gazebo related stuff, please see README of toad_gazebo (https://github.com/robofit/toad/tree/master/toad_gazebo)
- anything else?
Installation instructions (for installing everything from scratch):
- install some dependencies:
sudo apt-get install ros-groovy-gps-umd- compile libgtests (on 12.04 it's not compiled for some reason...)
cd /usr/src/gtest
sudo cmake .
sudo make
sudo mv libg* /usr/lib/- create rosbuild workspace on top of catkin workspace
source /opt/ros/groovy/setup.sh
mkdir ~/ros
mkdir -p ~/ros/catkin_ws/src
cd ~/ros/catkin_ws/src
catkin_init_workspace
cd ~/ros/catkin_ws
catkin_make
mkdir ~/ros/rosbuild_ws
cd ~/ros/rosbuild_ws
rosws init ./ ../catkin_ws/devel
source ~/ros/rosbuild_ws/setup.bash- install standalone version of Gazebo
sudo apt-get remove ros-fuerte-simulator-gazebo ros-groovy-simulator-gazebo
sudo apt-get install build-essential libtinyxml-dev libtbb-dev libxml2-dev libqt4-dev pkg-config libprotoc-dev libfreeimage-dev
sudo apt-get install libprotobuf-dev protobuf-compiler libboost-all-dev freeglut3-dev cmake libogre-dev libtar-dev
sudo apt-get install libcurl4-openssl-dev libcegui-mk2-dev
mkdir ~/devel
cd ~/devel
hg clone https://bitbucket.org/osrf/gazebo gazebo
cd gazebo
mkdir build
cd build
cmake ../
make -j5
sudo make install
echo "source /usr/local/share/gazebo/setup.sh" >> ~/.bashrc
echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
source ~/.bashrcNow you should be able to run standalone Gazebo...
gazebo- install catkin-based packages
cd ~/ros/catkin_ws/src
git clone https://github.com/ethz-asl/map_msgs
git clone -b hydro-devel https://github.com/ros-planning/navigation.git
git clone https://github.com/ZdenekM/p2os.git
git clone https://github.com/ZdenekM/gazebo_ros_pkgs.git
git clone https://github.com/ros-controls/ros_control.git
git clone https://github.com/ros-controls/ros_controllers.git
git clone https://github.com/ros-controls/control_toolbox.git
git clone https://github.com/ros-controls/realtime_tools.git
cd ..
catkin_make- install rosbuild-based packages
cd ~/ros/rosbuild_ws
rosws set microstrain_3dm_gx3_45 --git https://github.com/ZdenekM/microstrain_3dm_gx3_45.git
rosws update microstrain_3dm_gx3_45
rosws set hector_gazebo --git https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
rosws update hector_gazebo
rosws set but_env_percp --git https://github.com/robofit/but_env_percp.git
rosws update but_env_percp
rosws set toad --git https://github.com/robofit/toad.git
rosws update toad
source ~/ros/rosbuild_ws/setup.bash
rosmake toad_bringup toad_gazebo- make some small workarounds (there should be some better way...)
cp ~/ros/rosbuild_ws/hector_gazebo/hector_gazebo_plugins/lib/libhector_gazebo_ros_gps.so ~/ros/catkin_ws/devel/lib/
cp ~/ros/rosbuild_ws/hector_gazebo/hector_gazebo_plugins/lib/libhector_gazebo_ros_imu.so ~/ros/catkin_ws/devel/lib/
cp ~/ros/rosbuild_ws/toad/toad_gazebo/models ~/.gazebo- run simulation of our robot ;)
roslaunch toad_gazebo robot.launch
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