Robonaldo

Installation

To build everything other than robonaldo_vision just run:

sudo ./install.sh

Restart the terminal for the changes to take effect. This should let you run catkin_make with no problems.

Camera Installation

1. If this is on a Jetson with Jetpack 4.3 that was freshly installed, run

   sudo ln -s /usr/include/opencv4 /usr/include/opencv

2. Install the ZED camera software here: https://www.stereolabs.com/developers/release/.
3. Make the sub ports not require root: https://github.com/LairdCP/UwTerminalX/wiki/Granting-non-root-USB-device-access-(Linux))

Nodes

• Camera Node
• Arduino Node
• Decision Node
• Vision Processing Node
• Simulation Node
• Odometry Node
• Desktop Node

Running ROS

cd into repository and run:

catkin_make

In one Terminal window: roscore

In other Terminal windows:

source devel/setup.bash 
rosrun robonaldo <node_name>

For example, run roscore on one terminal, and in another terminal run:

source devel/setup.bash 
rosrun robonaldo vision_processing.py

(under the /robonaldo_vision directory)

Running on Arduino

http://wiki.ros.org/rosserial_arduino/Tutorials/Blink

roscore

rosrun rosserial_python serial_node.py /dev/ttyACM0

rostopic pub toggle_led std_msgs/Empty --once — To toggle once

Run rosrun robonaldo talker to simulate ROS broadcast

Running Gaze-bo

Launch Gaze-bo

source devel/setup.bash
roslaunch robonaldo_gazebo robonaldo_gazebo.launch

Other

rospack list