ITVRoC / espeleo

Espeleorobô main code repository -- it contains all the basic code packages to start the simulation and real robot

ESPELEOROBO'S MAIN REPOSITORY

This repository lists all EspeleoRobo's related repositories and wikis.

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INSTALL PACKAGES ON EMBEDDED COMPUTER (ESPELEOROBO)

1. copy and paste into terminal to have necessary packages in workspace (ESPELEOROBO)

cd ~/catkin_ws/src/
git clone --recurse-submodules https://github.com/ITVRoC/espeleo.git
cd espeleo/
git submodule foreach --recursive git checkout master

2. update all submodules

git submodule foreach git pull origin master

3. verify if all ros dependencies are installed

rosdep install --from-paths src --ignore-src -r -y

4. follow espeleo bringup wiki to configure startup services

https://github.com/ITVRoC/espeleo_bringup

5. follow espeleo wiki to create UDEV rules for usb devices

https://github.com/ITVRoC/espeleo/wiki/Create-symbolic-link-to-espeleo-find-USB-devices-by-name-UDEV-Rules

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FOR LOCOMOTION (essential to function)

• Clone and compile kacanopen to control the motors.
• Clone and compile espeleo_io to control the IOs.
• Clone and compile espeleo_locomotion to control espeleorobo.

FOR LOCALIZATION AND MAPPING

• Install the driver xsens imu.
• Install the ouster 16 lidar.
• Clone and compile espeleo_planning.

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INSTALL PACKAGES ON BASE COMPUTER (RUGGED)

FOR LOCOMOTION (essential to function)

• Clone and compile espeleo_gui GUI Interface for ESPELEO.
• Clone and compile espeleo_teleop to control the espeleo with joystick and keyboard.
• Clone and compile espeleo_msg_srv messages and services to espeleo.

FOR SIMULATION

• Espeleorobo v-rep's models.

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Espeleorobo ROS Communication General Guide

This guide presents all nodes in EspeleoRobo, with its topics, messages and description. One may find a graphical representation here.

kacanopen

Provides a ROS interface to EPOS CAN functionalities.

Subscribed Topics TODO

Published Topics TODO

Reseting motors

Provides solution to fault motors.

espeleo_locomotion

Converts linear and angular velocities input to coordinated joints actions.

Subscribed Topics

• /cmd_vel - <geometry_msgs/Twist> - Receives linear (in [m/s]) and angular (in [rad/s]) commands.

Published Topics TODO

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Update remote submodule versions

To update the submodules to the current master branch execute the following code:

cd espeleo/
git submodule update --recursive --remote