Setting up a turtlebot

This is a work in progress!

Setting up the code in laptop

We assume that you have Ubuntu 12.04 installed. If you do not have ROS Hydro installed, run the following commands, or check Installing our code-base on a machine for further details.

Setup the ROS Repository

sudo sh -c 'echo “deb`` http://packages.ros.org/ros/ubuntu ``precise`` ``main” > /etc/apt/sources.list.d/ros-latest.list' wget http://packages.ros.org/ros.key -O - | sudo apt-key add - sudo apt-get update

Install the necessary packages

sudo apt-get install ros-hydro-bwi-desktop-full ros-hydro-openni-tracker openjdk-6-jdk ros-hydro-roslint ros-hydro-cmake-modules gringo sudo rosdep init rosdep update

Set up your user account

Initialize your catkin workspace as follows

cd mkdir -p catkin_ws/src cd catkin_ws source /opt/ros/hydro/setup.bash catkin_make cd src wstool init

Setup the environment by adding this line to your .bashrc. Also, open the .bashrc file afterwards to make sure you don't have multiple copies of this line

echo “source`` ``~/catkin_ws/devel/setup.bash” >> ~/.bashrc

Downloading our code

cd ~/catkin_ws/src git clone https://github.com/utexas-bwi/bwi_experimental.git wget https://raw.githubusercontent.com/utexas-bwi/bwi/master/rosinstall/bwi.rosinstall mv bwi.rosinstall .rosinstall wstool update cd .. catkin_make

Turtlebot package installation

Debs Installation

Install the debs for turtlebot

sudo apt-get install ros-hydro-turtlebot ros-hydro-turtlebot-apps ros-hydro-turtlebot-viz ros-hydro-turtlebot-simulator ros-hydro-kobuki-ftdi

Add Kobuki's udev rules

. /opt/ros/hydro/setup.bash rosrun kobuki_ftdi create_udev_rules

Source your setup.bash to your .bashrc. Again, check for duplicates

echo “source`` ``/opt/ros/hydro/setup.bash” >> ~/.bashrc

Source Installation

Preparation

sudo apt-get install python-rosdep python-wstool ros-hydro-ros sudo rosdep init rosdep update

Software Development Workspace

mkdir ~/turtlebot cd ~/turtlebot wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8 source /opt/ros/hydro/setup.bash rosdep install --from-paths src -i -y catkin_make

Create udev rule so that it always appears on /dev/kobuki

source ~/turtlebot/devel/setup.bash rosrun kobuki_ftdi create_udev_rules

Source your setup.bash to your .bashrc

echo “source`` ``~/turtlebot/devel/setup.bash” >> ~/.bashrc

Post-installation setup

Network Time Protocol

Install Chrony

sudo apt-get install chrony

Manually sync NTP

sudo ntpdate ntp.ubuntu.com

Turtlebot bringup

Run the following commands to bring up the turtlebot. Make sure the base is turned on!

roscd bwi_experimental git pull origin master roslaunch bwi_kr_execution bwi_turtlebot.launch

In a separate terminal, run this command to open the dashboard

rqt -s kobuki_dashboard

Setting up self-goals

If you want the turtlebot to select goals by itself, then run these commands in separate terminals

roslaunch bwi_kr_execution bwi_kr_execution.launch rosrun bwi_tasks

The turtlebot can now pick goals by itself, in addition to manual goal selection from the RVIZ screen.