This repository is about the BetaGo robot maintained by South China University of Technology PEMT Laboratory.
- moveit-ros packages:
sudo apt-get install ros-kinetic-moveit-ros-*
sudo apt-get install ros-kinetic-moveit
- ridgeback packages:
sudo apt-get install ros-kinetic-ridgeback*
- UR5 packages:
sudo apt-get install ros-kinetic-ur-*
sudo apt-get install ros-kinetic-ur5*
we add the td_ros directly by submodule.
modify all the TdLib_DIR
in the CMakeLists.txt to your case.
create the workspace
mkdir ~/BetaGo_ws && cd ~/BetaGo_ws
clone this repositories and build
git clone --recursive git@github.com:TouchDeeper/BetaGo.git src/
catkin_make
Possible problem: 1.
catkin_package() include dir 'include' does not exist relative to
'[package_path]'
- solution: add
include
directory in the[package_path]
No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so
- solution:
sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so
- solution:
-
ur5 and allegro_hand are imported by environment variable RIDGEBACK_URDF_EXTRAS. RIDGEBACK_URDF_EXTRAS = your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
- method1: set temporary environment variable:
export RIDGEBACK_URDF_EXTRAS=~/BetaGo_ws/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
- method2: set permanent environment variable:
- terminal:
sudo gedit ~/.bashrc
- add
export RIDGEBACK_URDF_EXTRAS=~/BetaGo_ws/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
in the end. - terminal:
source ~/.bashrc
- terminal:
- method1: set temporary environment variable:
-
Check if the model has been downloaded in
~/.Gazebo/
, if not, you need to download the model first and put it in~/.Gazebo/
. Download link. For Chinese, download from rosclub.cn : link: http://pan.baidu.com/s/1pKaeg0F, password:cmxc- set GAZEBO_MODEL_PATH:
- terminal:
sudo gedit ~/.bashrc
- add
export GAZEBO_MODEL_PATH="/home/wang/.gazebo/models"
in the end. - terminal:
source ~/.bashrc
- terminal:
- set GAZEBO_MODEL_PATH:
- plug in the network cable.
- start the ridgeback, then push the E-STOP to release the lock.
- set the wired connection in your desktop, see the gif.
- add the config in the below to your ~/.bashrc, and
source ~/.bashrc
export ROS_MASTER_URI=http://192.168.131.1:11311 #Ethernet
export ROS_IP=192.168.131.100
5.add the config 192.168.131.1 CPR-R100-0057
in the below to your /etc/hosts, the location is after the line like
127.0.0.1 localhost
127.0.1.1 [your-computer-name]
6.rostopic list
in your desktop to see if the topics in the ridgeback have been send to your desktop. If receive the topic, the connection is valid.
- connect the ridgeback's computer and your pc to the same Local Area Network.
- get the IP of ridgeback by
ifconfig -a
in ridgeback's computer. The IP is in thewlp3s0
item, and the sentence isinet addr:[IP_ridgeback]
. - get the IP of your pc by 'ifconfig -a' in you pc. The IP is in the
wlo1
item, and the sentence isinet addr:[IP_pc]
. - comment out the config code for wire connection. And add the config in the below to your ~/.bashrc, and
source ~/.bashrc
export ROS_MASTER_URI=http://[IP_ridgeback]:11311 #Ethernet export ROS_IP=[IP_pc]
- add the config
[IP_ridgeback] CPR-R100-0057
in the below to your /etc/hosts, the location is after the line like127.0.0.1 localhost 127.0.1.1 [your-computer-name]
6.rostopic list
in your desktop to see if the topics in the ridgeback have been send to your desktop. If receive the topic, the connection is valid.
7. note!!!: after connection with ridgeback's computer, if your pc also need to run ros, comment out the content added in step 4 and 5 and re-source.
ssh administrator@[IP_ridgeback]
- ur5 and allegro_hand are imported by environment variable RIDGEBACK_URDF_EXTRAS. RIDGEBACK_URDF_EXTRAS = your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
- method1: set temporary environment variable:
export RIDGEBACK_URDF_EXTRAS=your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
- method2: set permanent environment variable:
- terminal:
sudo gedit ~/.bashrc
- add
export RIDGEBACK_URDF_EXTRAS="your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro"
in the end. - terminal:
source ~/.bashrc
- terminal:
- method1: set temporary environment variable:
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