Robot Study/ROS

Information

Plan to study "Robotics" Robot Operating System

• Collection of software frameworks for robot software development

~~Hold the project - I need to catch up the other things~~ ~~Supposed Duration: Oct. 29, 2018~~

Unfortunately, I began this without proper material and guideline. This note might be written only practical method. Basically, it will be a focus on Gazebo and ROS.

I realize that there are some customs to make a directory or package. It might take long times to summarize, I'll handle this part later.

Reference

Robot Operating System - WikiPedia

• https://en.wikipedia.org/wiki/Robot_Operating_System
• http://wiki.ros.org/

Gazebo

• https://en.wikipedia.org/wiki/Robotics_simulator
• http://gazebosim.org/

Note

Install Software

OS

• There are many linux version.
• However, I used "Ubuntu 16.04.05 (LTS)

ROS

• It was installed in my computer.
• I don't handle this part.
• In addtion, I can't recommend a specific package.

~~* Personal probelm: I installed rosbash additionally~~

• I needed to rebuild a whole system because there are many limitations for me.
• I used a version kinetic.

Gazebo

• Just follow instruction step-by-step
• There is the latest ver of gazebo, before you install this program you should check your OS and ROS version.
• Reference
• http://gazebosim.org/tutorials?tut=ros_overview
• http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros

Build Package

Command catkin_creat_pkg (pkg name) (inheritance pkg1) (pk2) ,,,

• If your packages are modified or new packages are added, you need build your whole project again.

1. catkin_make
2. source devel/setup.bash

Model Data

ROS usd .urdf file Need to convert .sdf to .urdf

There is .xacro files and many people said that it is for work efficency. ~~(I don't think so)~~

• Check your urdf file hirearchy

-urdf check_urdf model.urdf

-xacro check_urdf <(xacro -inorder model.xacro)

Reference

• https://www.youtube.com/watch?v=8g5nMxhi_Pw

Robot Model

• It's up to you.
• There are many references such as PR2.
• If you want more information, check key word in the bottom.

keyword

• baxter, franka, openmanipulator.

Back page

• Junhyuck Woo
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