MAE 252 Autonomous Robotics

Prerequisites

• ROS Noetic Desktop
• Gazebo 11.XX
• gazebo_ros_pkgs

Install

Once you have a base install of ROS Noetic and Gazebo11, run these commands in a terminal to source ROS set up files. This command will add the ROS source setup to your .bashrc which will source the setup files everytime you open a new terminal.

echo 'source /opt/ros/noetic/setup.bash' >> ~/.bashrc
source ~/.bashrc

Next make sure you have gazebo_ros_pkgs installed

sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

Now you are ready to pull this repo. Clone it to your home directory

git clone https://github.com/Drojas251/mae252_autonomous_robotics.git

Inside this repo is a bash script that will automate the workspace setup. This will setup your catkin workspace and build it. Run these two commands

chmod +x install.sh
./install.sh

After this script is ran, your catkin workspace will look as such:

catkin workspace

• build
• devel
• src
  • mae252_autonomous_robotics
  • turtlebot3
  • turtlebot3_msgs
  • turtlebot3_simulation

You need to then source your workspace setup files. Make sure you are in the autonomous_robotics directory. Run these commands

cd ~/autonomous_robotics
source devel/setup.bash

Now you are ready to run code!

DEMO

Go into the autonomous_robotics directory and run the demo

cd ~/autonomous_robotics
roslaunch robot_gazebo robot_world.launch

Other Things to Install

sudo apt-get install ros-noetic-ros-numpy