skynav

container of the skynav navigation system

Dependencies

• Install ros-hydro-desktop-full, and this package will build.

quick install notes:

• Install ubuntu 12.04-LTS
  http://www.ubuntu.com/

• Install ros hydro
  http://www.ros.org/install/
  http://wiki.ros.org/hydro/Installation/Ubuntu

• Setup catkin workspace _/home/[USER]/catkinws
  http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

• Setup .bashrc
  Source the workspace
        _source ~/catkinws/devel/setup.bash

• Git clone skynav and x80sv in the catkinws/src folder,
  (or somewhere else and create a symbolic link to the files in the catkin_ws/src folder.)

  for the navigation software: $ git clone https://github.com/SaxionLED/skynav.git
  for the x80sv robot drivers: $ git clone https://github.com/SaxionLED/x80sv.git

• Setup serial ports to right setup and add useraccount to 'dialout' group
  $ useradd -G dialout [USER]

• Export the files from __x80sv/x80sv_driver/udev folder to /etc/udev/rules.d__
  for resolving the robot specific USB connections

• Run _:~/catkin_workspace $ catkinmake to build the project

• Run _:~/catkin_workspace $ catkin_make runtests to build and run the gtests and rostests

• Connect the robot and laser via usb, or run a robot simulator in gazebo

• Run _:~/catkin_workspace $ roslaunch x80sv_bringup skynav_realrobot.launch to launch the full skynav navigation package including gmapping and x80 drivers

• or run _:~/catkin_workspace $ roslaunch skynav_bringup skynavlaunch for running only the skynav stack