I. Preparation

• Clone this repo:

  $ mkdir catkin_workspace && cd $_                    # Example: mkdir wandrian && cd $_
  $ git clone https://github.com/sontdhust/wandrian_src src   # Clone repository and rename to `src`
  

• Install build-essential if not done so already:

  $ sudo apt-get install build-essential
  

II. Installation

Platform: Ubuntu Trusty 14.04

• Setup sources.list and keys:

  $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
  $ sudo apt-get update
  

• Install ROS Indigo Desktop-Full and Kobuki + Kobuki Gazebo (Recommended):

  $ sudo apt-get install ros-indigo-desktop-full
  $ sudo apt-get install ros-indigo-kobuki ros-indigo-kobuki-gazebo
  

  Or install only ROS Base and Kobuki (Bare bone):

  $ sudo apt-get install ros-indigo-ros-base
  $ sudo apt-get install ros-indigo-kobuki
  

• Install Hokuyo:

  $ sudo apt-get install ros-indigo-hokuyo-node
  

• Install gmapping:

  $ sudo apt-get install ros-indigo-gmapping
  

III. Building

• Build catkin_workspace:

  $ rm -rf build/
  $ . /opt/ros/indigo/setup.bash
  $ catkin_make --force-cmake           # Do this to re-build when the code has changed
  

• Add catkin_workspace environment variables to bash session every time a new shell is launched:

  $ echo "" >> ~/.bashrc
  $ echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc
  $ echo "source $(pwd)/src/wandrian/setup.sh" >> ~/.bashrc
  $ . ~/.bashrc
  

IV. Testing

• Install OpenGL/GLUT:

  $ sudo apt-get install freeglut3-dev
  

• Test:

  $ cd src/wandrian/test/
  $ ./test.sh boundary_size obstacle_size tool_size plan_name
  

V. Run on simulator

$ roslaunch wandrian environment.launch world_file:=file
$ roslaunch wandrian run_simulator.launch tool_size:=size starting_point_x:=x starting_point_y:=y plan_name:=name
$ rosrun gmapping slam_gmapping scan:=scan
$ rosrun rviz rviz

VI. Run practically

Enable the device to appear on /dev/kobuki for the first time:

$ rosrun kobuki_ftdi create_udev_rules

1. Single machine

• Run:

  $ roslaunch kobuki_node minimal.launch --screen
  $ sudo chmod a+rw /dev/ttyACM0
  $ rosrun hokuyo_node hokuyo_node
  $ roslaunch wandrian run_practically.launch mn:=name ts:=size sp_x:=x sp_y:=y pn:=name lv:=velocity pav:=velocity nav:=velocity l_cr:=rate l_af:=factor e_rd:=epsilon e_md:=epsilon e_p:=epsilon d_lp:=deviation d_ap:=deviation t_lsc:=threshold t_asc:=threshold
  $ rosrun gmapping slam_gmapping
  $ rosrun map_server map_saver         # Save map to disk when finished
  

2. Multiple machines

• Configuration:

  • Kobuki setup:

    $ echo "export ROS_MASTER_URI=http://localhost:11311" >> ~/.bashrc
    $ echo "export ROS_HOSTNAME=$(hostname)" >> ~/.bashrc
    

  • Remote PC setup:

    $ echo "export ROS_MASTER_URI=http://$(gethostip -d KOBUKI_HOSTNAME):11311" >> ~/.bashrc
    $ echo "export ROS_HOSTNAME=$(hostname)" >> ~/.bashrc
    

• Run:

  • On Kobuki:

    $ roslaunch kobuki_node minimal.launch --screen
    $ sudo chmod a+rw /dev/ttyACM0
    $ rosrun hokuyo_node hokuyo_node
    

  • On remote PC:

    $ roslaunch wandrian run_practically.launch mn:=name ts:=size sp_x:=x sp_y:=y pn:=name lv:=velocity pav:=velocity nav:=velocity l_cr:=rate l_af:=factor e_rd:=epsilon e_md:=epsilon e_p:=epsilon d_lp:=deviation d_ap:=deviation t_lsc:=threshold t_asc:=threshold
    $ rosrun gmapping slam_gmapping
    $ rosrun rviz rviz