Difference between revisions of "RoboRacing Software Installation Instructions"
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== Step 7 - Dependencies Problems == | == Step 7 - Dependencies Problems == | ||
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
| − | sudo apt install ros-noetic-costmap-2d | + | sudo apt install ros-noetic-costmap-2d ros-noetic-effort-controller ros-noetic-robot-localization |
| − | |||
| − | |||
</span></div> | </span></div> | ||
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</span></div> | </span></div> | ||
*Then press [Enter] | *Then press [Enter] | ||
| − | === IARRC Simulation === | + | === For IARRC Simulation === |
| + | * In one terminal run: | ||
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
roslaunch rr_gazebo macaroni_iarrc_circuit.launch | roslaunch rr_gazebo macaroni_iarrc_circuit.launch | ||
</span></div> | </span></div> | ||
| − | + | * In '''another''' terminal run: | |
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
roslaunch rr_iarrc test_circuit_sim.launch | roslaunch rr_iarrc test_circuit_sim.launch | ||
</span></div> | </span></div> | ||
| − | === EVGP Simulation === | + | === For EVGP Simulation === |
| + | * In one terminal run: | ||
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
roslaunch rr_gazebo evgp.launch | roslaunch rr_gazebo evgp.launch | ||
</span></div> | </span></div> | ||
| − | + | * In '''another''' terminal run: | |
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
roslaunch rr_evgp evgp_planning_demo.launch | roslaunch rr_evgp evgp_planning_demo.launch | ||
Revision as of 21:51, 28 September 2020
Welcome!
Robojackets RoboRacing currently supports an Ubuntu 20.04 and ROS-noetic environment. The project may build/run in other environments, but we can't guarantee it.
Let's begin the installation process.
Contents
Install ROS Noetic
Step 1 - ROS Installation
We will be using the instructions found on the ROS Noetic Ubuntu Guide
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-desktop-full --yes
Step 2 - Environment Variable Setup
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Step 3 - Get Terminator
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
sudo apt install terminator
Setup Workspace
Step 4 - Make File Structure
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/RoboJackets/roboracing-software.git --recursive
Step 5 - Install Dependencies
cd ~/catkin_ws
sudo apt install python3-rosdep python-is-python3 python3-catkin-tools --yes
rosdep install --from-path src --ignore-src -y
Step 6 - Building the Code
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
Step 7 - Dependencies Problems
sudo apt install ros-noetic-costmap-2d ros-noetic-effort-controller ros-noetic-robot-localization
Step 8- Run the Code
roscore &
- Then press [Enter]
For IARRC Simulation
- In one terminal run:
roslaunch rr_gazebo macaroni_iarrc_circuit.launch
- In another terminal run:
roslaunch rr_iarrc test_circuit_sim.launch
For EVGP Simulation
- In one terminal run:
roslaunch rr_gazebo evgp.launch
- In another terminal run:
roslaunch rr_evgp evgp_planning_demo.launch
- Remeber to do source ~/catkin_ws/devel/setup.bash if the launch file can't be found in package (you should add this to ~/.bashrc if you haven't already)
- Gazebo usually freezes when loading right after installation so just run it, wait, kill it with [Ctrl-C], wait until it is dead, then retry!
