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roch_rapps package from roch repo

roch roch_follower roch_navigation roch_rapps roch_teleop

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Browse Code

Package Summary

Tags No category tags.
Version 2.0.12
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/SawYer-Robotics/roch.git
VCS Type git
VCS Version kinetic
Last Updated 2018-05-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The roch_rapps package for set of 'app manager' apps definition

Additional Links

Maintainers

  • Chen

Authors

  • Chen
roch_rapps/README.md

roch_rapps Of Roch Stack Package

Table of Contents

Preparation

Before starting run roch_rapps. There have some problems should be resolved, due to new packages of robotics-in-concert have not release with almost version in 0.10.0, so we should install these by ourselves.

Requirements

Under these stacks packages we need, and corresponding version:

Stacks & Packages Version Document
capabilities 0.2.0 & above wiki github
rocon_rapps 0.1.0 & above wiki github
concert_scheduling 0.7.0 & above wiki github
concert_services 0.1.12 & above wiki github
concert_software_farm 0.0.3 & above wiki github
rocon_app_platform 0.10.0 & above wiki github
rocon_concert 0.9.0 & above wiki github
rocon_msgs 0.10.0 & above wiki github
rocon_multimaster 0.7.10 & above wiki github
rocon_qt_gui 0.9.0 & above wiki github
rocon_qt_library 0.9.0 & above wiki github
rocon_tools 0.6.0 & above wiki github
rqt_capabilities 0.1.2 & above wiki github
std_capabilities 0.0.0 github
world_canvas_server 0.1.0 wiki github
world_canvas_libs 0.1.0 github
world_canvas_msgs 0.1.0 wiki github

Add some packages we can using apt-get for installing following command:

$  sudo apt-get install ros-indigo-world-canvas-server ros-indigo-world-canvas-client-cpp \
    ros-indigo-world-canvas-client-examples ros-indigo-world-canvas-client-py ros-indigo-world-canvas-utils \
    ros-indigo-world-canvas-msgs ros-indigo-std-capabilities ros-indigo-rqt-capabilities \
    ros-indigo-concert-software-farm ros-indigo-capabilities ros-indigo-concert-services  \
    ros-indigo-concert-scheduling

Installation

Under these stacks packages we need to install by ourselves:

Stacks & Packages version
rocon_app_platform 0.10.0 & above
rocon_concert 0.10.0 & above
rocon_msgs 0.10.0 & above
rocon_qt_gui 0.9.0 & above
rocon_qt_library 0.9.0 & above
rocon_tools 0.6.0 & above

Download these packages into your workspace:

$  cd  <your_catkin_ws>/src
$  git clone https://github.com/robotics-in-concert/rocon_app_platform
$  git clone https://github.com/robotics-in-concert/rocon_concert
$  git clone https://github.com/robotics-in-concert/rocon_msgs
$  git clone https://github.com/robotics-in-concert/rocon_qt_gui
$  git clone https://github.com/robotics-in-concert/rocon_tools
$  git clone https://github.com/robotics-in-concert/rocon_multimaster

After download these packages, build your catkin_ws :

$  cd  <your_catkin_ws>
$  #checkout all required depends installation
$  rosdep install --from-paths src --ignore-src --rosdistro indigo -y 
$  catkin_make

For now you can run concert_minimal.launch for using rapps of roch.

Usage

There is an example for how to use roch_rapps, for now roch_rapps package is differebt old rocon package, due use new package, so you can use following command for checking.

  • (#For first ternimal) Bringup your Roch

    • roslaunch roch_bringup concert_minimal.launch

  • (#For sencond ternimal) Bringup rqt_remocon

    • rqt_remocon
CHANGELOG

Changelog for package roch_rapps

2.0.12 (2017-09-18)

2.0.11 (2017-03-23)

1.0.11 (2017-03-23)

  • Update README.md
  • Modified some launch files.

1.0.10 (2017-02-17)

  • Create.
  • Constructer: Carl

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • rapps/waypoint_nav/waypoint_nav.launch
    • Waypoint Navigation
      • application_namespace
      • simulation [default: false]
      • 3d_sensor [default: $(env ROCH_3D_SENSOR)]
      • 2d_laser [default: $(env ROCH_LASER)]
      • 2d_laser_enabled [default: $(env ROCH_LASER_ENABLE)]
      • 3d_sensor_enabled [default: $(env ROCH_3D_SENSOR_ENABLE)]
      • 3d_sensor_nav_enabled [default: $(env ROCH_3D_SENSOR_NAV_ENABLE)]
      • global_frame [default: map]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • location_list_topic [default: waypoints]
      • navigator_action [default: navigator]
      • map_topic [default: map]
  • rapps/follower/follower.launch
    • Launchers for roch follower.
      • simulation [default: $(env ROCH_SIMULATION)]
      • emulation [default: false]
  • rapps/map_manager/map_manager.launch
    • Launchers for map manager on Roch.
      • debug [default: false]
  • rapps/2dlaser/2dlaser.launch
    • Launchers for 2d laser on Roch
  • rapps/video_teleop/video_teleop.launch
    • Launchers for Roch
      • 3d_sensor [default: $(env ROCH_3D_SENSOR)]
      • 2d_laser [default: $(env ROCH_LASER)]
      • 2d_laser_enabled [default: $(env ROCH_LASER_ENABLE)]
      • 3d_sensor_enabled [default: $(env ROCH_3D_SENSOR_ENABLE)]
      • 3d_sensor_nav_enabled [default: $(env ROCH_3D_SENSOR_NAV_ENABLE)]
      • simulation [default: $(env ROCH_SIMULATION)]
      • emulation [default: true]
      • application_namespace [default: ]
  • rapps/3dsensor/3dsensor.launch
    • Launchers for 3d camera on Roch
  • rapps/ps3_teleop/ps3_teleop.launch
    • Launchers for control Roch using ps3.
  • rapps/map_nav/map_nav.launch
    • Right now, the android app is hard coded to look for /cmd_vel as the input topic.
      • cmd_vel_topic [default: /teleop/cmd_vel]
      • compressed_image_topic [default: /teleop/compressed_image]
      • 3d_sensor [default: $(env ROCH_3D_SENSOR)]
      • 2d_laser [default: $(env ROCH_LASER)]
      • 2d_laser_enabled [default: $(env ROCH_LASER_ENABLE)]
      • 3d_sensor_enabled [default: $(env ROCH_3D_SENSOR_ENABLE)]
      • 3d_sensor_nav_enabled [default: $(env ROCH_3D_SENSOR_NAV_ENABLE)]
      • map_file [default: $(env ROCH_MAP_FILE)]
      • debug [default: false]
  • rapps/keyboard_teleop/keyboard_teleop.launch
    • Launchers for control Roch using keyboard.
  • rapps/xbox360_teleop/xbox360_teleop.launch
    • Launchers for Control Roch Using Xbox360
  • rapps/make_a_map/make_a_map.launch
    • Right now, the android app is hard coded to look for /cmd_vel as the input topic.
      • 3d_sensor [default: $(env ROCH_3D_SENSOR)]
      • 2d_laser [default: $(env ROCH_LASER)]
      • 2d_laser_enabled [default: $(env ROCH_LASER_ENABLE)]
      • 3d_sensor_enabled [default: $(env ROCH_3D_SENSOR_ENABLE)]
      • 3d_sensor_nav_enabled [default: $(env ROCH_3D_SENSOR_NAV_ENABLE)]
      • simulation [default: $(env ROCH_SIMULATION)]
      • emulation [default: false]
      • scan_topic [default: /make_a_map/scan]
      • cmd_vel_topic [default: /teleop/cmd_vel]
      • compressed_image_topic [default: /teleop/compressed_image]
      • debug [default: false]
      • application_namespace [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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