ROS package suite for [SPUR]{.title-ref}, a mobile omni-directional base robot with extensible arm made at Okada Lab, Tamagawa University (¶ÌÀîÂç³Ø) (a RoboCup@Home contender).

See the video on http://wiki.ros.org/spur.

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::: {.contents depth=”3”} Table of Contents :::

DEB build status

"apt-get"table binary ([DEB]{.title-ref}) files are generated at ROS build farm maintained by OSRF). The following is the status of the build jobs.

ROS Source deb Development Branch (travis) Development branch (ros.org) Release Branch binarydeb Precise AMD64 Documentation (ros.org) Distro
——– ————————————————————————————————- ———————————————————————————- ——————————————————————————————— —————————————————————————– ——————————————————————————————————————– ——————————————————————————— Indigo

Devel Test Status

Install

Installation Requirement

Following is assumed to be already installed:

• Ubuntu 14.04 Trusty Tahr 64bit
• ROS Indigo Igloo

Install via apt (RECOMMENDED)

__(May 9, 2015) This is indeed recommended, however, due to some ongoing work, installing from source is required. Once https://github.com/tork-a/spur/issues/16 gets resolved this limitation will be gone.__

The following set of commands will install both [ROS Indigo]{.title-ref} and [spur]{.title-ref} ROS package together for your convenience. For the complete instruction for installing [ROS]{.title-ref}, see its wiki.

Ubuntu$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu$ wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
Ubuntu$ sudo apt-get update && sudo apt-get install ros-indigo-desktop-full ros-indigo-spur
Ubuntu$ sudo rosdep init && rosdep update

Ubuntu$ echo "### For ROS setting"
Ubuntu$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
Ubuntu$ source ~/.bashrc

Install via source

Installing via source is only recommended for development purpose. The directory [~/catkin_ws/]{.title-ref} will be used as a source directory for this instruction.

1. Set up catkin workspace. Download [SPUR]{.title-ref} ROS package.

$ mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src && catkin_init_workspace
$ git clone https://github.com/tork-a/spur.git                             

1-1. Install joy stick (temporarilly required for joy stick users).

Joy stick operation for omni-directional robots in ROS is still under development. As of now (April, 2015), install the joy stick ROS driver from source. This step will become not required in the future (related).

$ cd ~/catkin_ws/src
$ git clone https://github.com/130s/teleop_twist_joy.git && cd teleop_twist_joy && git checkout add/omnidir

1-2. Install scan matcher tools (temporarilly required until deb release)

$ cd ~/catkin_ws/src
$ git clone https://github.com/ccny-ros-pkg/scan_tools.git && cd scan_tools && git checkout b5efb32268911cada4bf5144af3578a5561dcfef -b 20150711

1. Install depended libraries. Build sources.

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