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 MAINTAINED
Released RELEASED

Package Description

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

Additional Links

Maintainers

  • Chen

Authors

  • Chen

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/2dlaser/2dlaser.launch
    • Launchers for 2d laser on Roch
  • rapps/3dsensor/3dsensor.launch
    • Launchers for 3d camera on Roch
  • 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/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/map_manager/map_manager.launch
    • Launchers for map manager on Roch.
      • debug [default: false]
  • rapps/follower/follower.launch
    • Launchers for roch follower.
      • simulation [default: $(env ROCH_SIMULATION)]
      • emulation [default: false]
  • 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/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/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: ]
  • rapps/ps3_teleop/ps3_teleop.launch
    • Launchers for control Roch using ps3.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roch_rapps at answers.ros.org