Robot_Study/ROS - ZeroWiki

1. Information

2. Reference

3. Note

3.1. Install Software

3.2. Build Package

3.3. Model Data

3.3.1. Robot Model
3.3.2. Camera

4. Comments

5. Back page

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.

2. Reference ¶

Robot Operating System - WikiPedia
- https://en.wikipedia.org/wiki/Robot_Operating_System
- http://wiki.ros.org/

Gazebo
- https://en.wikipedia.org/wiki/Robotics_simulator
- http://gazebosim.org/

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)

Reference
- https://www.youtube.com/watch?v=8g5nMxhi_Pw

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.

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