nbs_experiments

This repo contains maps and gazebo worlds for experiments. It's main use is to get an environment for mcdm experiments with Tiago and others.

Simulation

Main launcher is INB3123_experiment.launch which contains almost everything.

Setting up LCAS software.

If you still haven't set up this awesome software, you won't be able to go on. Please proceed with:

 # This is just to cache you admin password for the next steps
 sudo ls
 # curl is required for the next step
 sudo apt-get update && sudo apt-get install curl
 # And this should install everything required
 curl https://raw.githubusercontent.com/LCAS/rosdistro/master/lcas-rosdistro-setup.sh | bash -

Or whatever new instructions Marc has kindly compiled for us here

Installing Tiago in Kinetic with Gazebo8 compatibility

Mostly we will use same instructions than in PAL tutorials (see here), but we will use our own rosinstall file from here. Follow these instructions:

source /opt/ros/kinetic/setup.bash
mkdir ~/workspace/tiago
cd ~/workspace/tiago
# Download file tiago_lcas.rosinstall from this repo

rosinstall src /opt/ros/kinetic tiago_lcas.rosinstall

rosdep update

rosdep install -y --from-paths src --ignore-src --rosdistro kinetic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit  sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup"

Now we are almost ready to compile the packages. First compile amtec (it fails sometimes, just retry compiling):

catkin build amtec -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Debug

And finally the workspace:

catkin build -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Debug

catkin build amtec

If all compiles, you should be able to install