orne_or

office robot control software in Robot Design and Control Lab.

Install

Precondition:

1. Install ROS noetic (Ubuntu20.04/docker)
2. Install catkin-tools & ros-control

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install python3-catkin-tools ros-noetic-ros-control ros-noetic-ros-controllers

Install

cd ~/catkin_ws/src
git clone https://github.com/open-rdc/orne_or
wstool init
wstool merge orne_or/orne_or_pkgs.install
wstool up
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build
source ~/.bashrc

Execute

Navigation
Simulator (gazebo)

roslaunch orne_or_bringup orne_or_sim.launch
roslaunch orne_or_navigation_executor nav_static_map.launch

Real Robot

roslaunch orne_or_bringup orne_or.launch
roslaunch orne_or_navigation_executor nav_static_map.launch

Manipulation
Simulator (gazebo)

roslaunch orne_or_bringup orne_or_manipulator_sim.launch
roslaunch orne_or_moveit_config moveit_planner.launch

Real Robot

roslaunch orne_or_bringup orne_or_manipulator.launch
roslaunch orne_or_moveit_config moveit_planner.launch

Hardware