ros_solution

An example workspace for our training project

How to use this repo

Installation

1. Clone this repo using git clone
2. CD into the cloned directory and make everything using catkin_make
3. Put in the command source devel/setup.sh in any terminal which will be using items from your created ROS package.

At this point you will have created a new package wb_sol and have updated your ROS management to include files from the new package.

Running

1. CD into the directory src/wb_sol/urdf
2. Run these magic spells:

roslaunch gazebo_ros empty_world.launch

rosrun gazebo_ros spawn_model -file wb.urdf -urdf -model wheely_boi

This will spawn in the wheely_boi model into an empty gazebo world.

3. Launch the keyboard controller:

rosrun wb_sol key_in.py

4. If you want to run the camera controller, you can either:

• Give webcam access to your vm
• Or pull in video stream from an online source. I recommend using a camera streaming app (android) (apple)
  • You'll want a video resolution of 640x480, with a bitrate of 512/64 kpbs