See Robots/CIR-KIT-Unit03 for instructions and tutorials.

About

Minimum required packages for CIR-KIT-Unit03. This package doesn't include system application launch files so please also check cirkit_unit03_apps if you are interested in whole navigation system call including both real robot and simulation (Gazebo).

Installation

The following commands grab all required packages for CIR-KIT-Unit03 navigation with rosdep and wstool, and then execute catkin_make and catkin_make run_tests.

Clone this repository.

$ cd <catkin_ws>/src
$ git clone https://github.com/CIR-KIT-Unit03/cirkit_unit03_pkgs.git

Run install script.

cd <catkin_ws>/src/cirkit_unit03_pkgs
sh install.sh

• optional arguments:
  • -h: show the help message and exit

  • -i: eneble rosdep init

  • -t: enable catkin_make run_tests

  • -r: remove existing src/.rosinstall

Configuration

Basical packages for CIR-KIT-Unit03

Cloned via cirkit_unit03_pkgs.rosinstall

• cirkit_unit03_common

  • cirkit_unit03_control

  • cirkit_unit03_description

• cirkit_unit03_navigation

  • cirkit_unit03_amcl

  • cirkit_unit03_gmapping

  • cirkit_unit03_maps

  • cirkit_unit03_move_base

• cirkit_unit03_robot

  • cirkit_unit03_base

  • cirkit_unit03_bringup

• cirkit_unit03_simulator

  • cirkit_unit03_gazebo

Dependent packages for CIR-KIT-Unit03

Cloned via cirkit_unit03_pkgs.rosinstall

• ira_laser_tools

• lower_step_detector

• steer_drive_ros

  • steer_bot_hardware_gazebo

  • steer_drive_controller

  • stepback_and_steerturn_recovery

Directory configuration after Installation

<catkin_ws>
│
└ src
   │
   ├ cirkit_unit03_deps (Just a directory, not a metapacage)
   │   |
   |   ├ ira_laser_tools (Cloned via cirkit_unit03_pkgs.rosinstall)
   │   |
   |   ├ lower_step_detector (Cloned via cirkit_unit03_pkgs.rosinstall)
   │   |
   │   └ steer_drive_ros (Cloned via cirkit_unit03_pkgs.rosinstall)
   │
   └ cirkit_unit03_pkgs
       |
       ├ cirkit_unit03_pkgs (Metapackage)
       |
       ├ cirkit_unit03_common (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       ├ cirkit_unit03_navigation (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       ├ cirkit_unit03_robot (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       └ cirkit_unit03_simulator (Cloned via cirkit_unit03_pkgs.rosinstall)