robot_learning_ws

Code for the exercises in CS 309 Robot Learning (FRI I).

Note: these exercises require a machine with ROS Noetic and Ubuntu 20.04. See below for installation instructions. Do not attempt to run ROS in a VM. Dual boot if you wish (consult with a peer mentor and back up your data) or use the basement computer lab.

If you already have ROS installed:

1. Set up your github ssh key. See the course website here. (You likely already have git and just need to add an ssh key).
2. Clone this repo in your home directory like so:

cd
git clone [email protected]:UT-Austin-RobIn/robot_learning_ws.git
cd robot_learning_ws
git submodule init
git submodule update

3. Build the workspace

source /opt/ros/noetic/setup.bash
cd ~/robot_learning_ws
catkin_make

4. Run source devel/setup.bash so ROS can find packages in this workspace.
5. Run code for the exercises!

ROS installation instructions

1. Let's install ROS Noetic and the dependencies for the Sawyer robot. Make sure you have Ubuntu 20.04. If not, see here.
2. Setup sources and keys, then update

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 install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update

3. Install ROS

sudo apt-get install ros-noetic-desktop-full

4. Install Sawyer dependences

sudo apt-get install git-core python3-wstool python3-vcstools python3-rosdep ros-noetic-control-msgs ros-noetic-xacro ros-noetic-tf2-ros ros-noetic-rviz ros-noetic-cv-bridge ros-noetic-actionlib ros-noetic-actionlib-msgs ros-noetic-dynamic-reconfigure ros-noetic-trajectory-msgs ros-noetic-rospy-message-converter
sudo apt-get install ros-noetic-moveit
sudo apt-get install ros-noetic-rviz-visual-tools ros-noetic-moveit-visual-tools  

5. Initialize rosdep

sudo rosdep init
rosdep update

6. Proceeed with the instructions above to set up this repository.