office robot control software in Robot Design and Control Lab.
Precondition:
- Install ROS noetic (Ubuntu20.04/docker)
- Install catkin-tools & ros-control
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install python3-catkin-tools ros-noetic-ros-control ros-noetic-ros-controllers
Install
cd ~/catkin_ws/src
git clone https://github.com/open-rdc/orne_or
wstool init
wstool merge orne_or/orne_or_pkgs.install
wstool up
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build
source ~/.bashrc
Navigation
Simulator (gazebo)
roslaunch orne_or_bringup orne_or_sim.launch
roslaunch orne_or_navigation_executor nav_static_map.launch
Real Robot
roslaunch orne_or_bringup orne_or.launch
roslaunch orne_or_navigation_executor nav_static_map.launch
Manipulation
Simulator (gazebo)
roslaunch orne_or_bringup orne_or_manipulator_sim.launch
roslaunch orne_or_moveit_config moveit_planner.launch
Real Robot
roslaunch orne_or_bringup orne_or_manipulator.launch
roslaunch orne_or_moveit_config moveit_planner.launch
![](https://private-user-images.githubusercontent.com/71181654/307559505-0072ab36-581b-4f19-a733-2e6548adccbc.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjI4MTYyODksIm5iZiI6MTcyMjgxNTk4OSwicGF0aCI6Ii83MTE4MTY1NC8zMDc1NTk1MDUtMDA3MmFiMzYtNTgxYi00ZjE5LWE3MzMtMmU2NTQ4YWRjY2JjLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODA0VDIzNTk0OVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTdiYTAxOGJlYTkzY2E0ZjI4YmI0OWUyNmE5NzUxMTViMDg0OGUyYTAzODVlZmZjMzlkMzRhOGNjMmU4MGJhNGYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.H8pBHPzqM-Roxmq5uTDf8oGZwisSRem182zf5w7zDl8)