stair_traversal_tutorial

Repo providing a ROS workspace setup that allows for the simulation of a tracked robot capable of autonomous stair climbing

This repository provides a complete workspace setup for providing a simulated tracked robot that is capable of autonomous stair climbing in Gazebo simulation.

Installation

Make sure you installed ROS Indigo as described in the ROS Installation instructions.

Add the OSRF repository to your system to allow the use of newer Gazebo versions. This is described here.

Install a Gazebo version of your choice (The tutorial has been well tested with gazebo5):

sudo apt-get install ros-$ROS_DISTRO-gazebo5-ros ros-$ROS_DISTRO-gazebo5-plugins ros-$ROS_DISTRO-gazebo5-ros-control

Enter a folder of your choice (a good choice is the home folder) and check out this repo:

git clone https://github.com/tu-darmstadt-ros-pkg/autonomous_stair_traversal_tutorial.git

Enter folder and run the update script:

cd autonomous_stair_traversal_tutorial
./update.sh

The script creates a workspace, installs dependencies, clones multiple repositories and builds them using catkin tools

Usage

Further instructions on how to use the workspace will be added soon.