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 focus on Gazebo and ROS.

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) ,,,

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

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