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Robot_Study/ROS



1. 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 a focus on Gazebo and ROS.

I realize that there are some customs to make a directory or package.
It might take long times to summarize, I'll handle this part later.

3. Note

3.1. 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

3.2. 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.
1. catkin_make
2. source devel/setup.bash

3.3. 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)



3.3.1. 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.

3.3.2. Camera

4. Comments


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