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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
Gazebo
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.
- catkin_make
- 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
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.