Dora ROS components

For a simplified set of instructions and launch files, see dora_launch

This is a set of ROS components for controlling the dora robot (and other P2DX robots), taken from https://github.com/pronobis/rocs-ros with small modifications made.

Installation

To install the necessary components, create a catkin workspace and use the following .rosinstall file, or use the URLs to install how you wish.

- git: {local-name: rosaria, uri: 'https://github.com/amor-ros-pkg/rosaria.git'}
- git: {local-name: wu_ptu, uri: 'https://github.com/uobirlab/wu_ptu.git'}
- git: {local-name: dora-control, uri: 'https://github.com/uobirlab/dora-control.git'}

You also need to install the dependencies of these packages before they build. The simplest way is to use rosdep from the top directory of your catkin workspace, e.g. (or similar)

rosdep install --from-paths src --ignore-src --rosdistro groovy -y -r

This seems to have problems with the dependencies of ROSARIA but you can install the Aria library (libaria) dependency directly from the ARIA website, e.g.

sudo dpkg -i ~/Downloads/libaria_2.8.0+ubuntu12+gcc4.6_amd64.deb

Or follow the ROSARIA install instructions if you have problems.

If you are using ROS Groovy note that because we are using catkin, if you want to write software that includes files from the navigation stack you must install the catkinized navigation stack. You don't need to do this to use the navigation stack, only compile files that reference it directly.

You can do this in you own workspace by adding the following:

wstool set navigation --git https://github.com/ros-planning/navigation -v groovy-devel-catkinized

or adding the line directly to your src/.rosinstall file:

- git: {local-name: navigation, uri: 'https://github.com/ros-planning/navigation', version: groovy-devel-catkinized}

Running

roslaunch rocs_robot runFirst.launch is used to generate the SLAM map, so this must be run the first time you work in a new area. roslaunch rocs_robot run.launch can then be used with an existing map.