Difference between revisions of "HowToInstallRoombaPackage"
From robotica.unileon.es
WikiSheriff (talk | contribs) (→Get packages) |
WikiSheriff (talk | contribs) (→Get packages) |
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| Line 27: | Line 27: | ||
Move outside folder parsec: | Move outside folder parsec: | ||
cmd_vel_safety_filter gmapping_offline parsec_arduino parsec_arduino_tests tf_odometry_relay | cmd_vel_safety_filter gmapping_offline parsec_arduino parsec_arduino_tests tf_odometry_relay | ||
| + | |||
| + | Other changes | ||
| + | <syntaxhighlight lang=CMake> | ||
| + | diff -r f47a20bb44a5 parsec_bringup/manifest.xml | ||
| + | --- a/parsec_bringup/manifest.xml Fri Mar 30 09:32:23 2012 -0700 | ||
| + | +++ b/parsec_bringup/manifest.xml Fri Oct 18 14:04:22 2013 +0200 | ||
| + | @@ -15,7 +15,7 @@ | ||
| + | <depend package="rospy" /> | ||
| + | <depend package="geometry_msgs" /> | ||
| + | <depend package="priority_mux" /> | ||
| + | - <depend package="cmd_vel_safety_filter" /> | ||
| + | + <!-- <depend package="cmd_vel_safety_filter" /> --> | ||
| + | <depend package="compressed_visualization_transport" /> | ||
| + | |||
| + | </package> | ||
| + | diff -r f47a20bb44a5 parsec_navigation/manifest.xml | ||
| + | --- a/parsec_navigation/manifest.xml Fri Mar 30 09:32:23 2012 -0700 | ||
| + | +++ b/parsec_navigation/manifest.xml Fri Oct 18 14:04:22 2013 +0200 | ||
| + | @@ -16,6 +16,8 @@ | ||
| + | <depend package="move_base" /> | ||
| + | <depend package="navfn" /> | ||
| + | <depend package="parsec_perception" /> | ||
| + | - <depend package="point_cloud_converter" /> | ||
| + | + <!-- <depend package="point_cloud_converter" /> --> | ||
| + | + <depend package="pointcloud_to_laserscan" /> | ||
| + | +<depend package="sensor_msgs"/><!-- for point cloud should be removed--> | ||
| + | <depend package="rcconsole" /> | ||
| + | </package> | ||
| + | diff -r f47a20bb44a5 parsec_odometry/manifest.xml | ||
| + | --- a/parsec_odometry/manifest.xml Fri Mar 30 09:32:23 2012 -0700 | ||
| + | +++ b/parsec_odometry/manifest.xml Fri Oct 18 14:04:22 2013 +0200 | ||
| + | @@ -16,6 +16,6 @@ | ||
| + | <depend package="parsec_msgs" /> | ||
| + | <depend package="nav_msgs" /> | ||
| + | <depend package="sensor_msgs" /> | ||
| + | - <depend package="eigen" /> | ||
| + | + <!-- <depend package="eigen" /> --> | ||
| + | |||
| + | </package> | ||
| + | diff -r f47a20bb44a5 rcconsole/include/rcconsole/log_filter.h | ||
| + | --- a/rcconsole/include/rcconsole/log_filter.h Fri Mar 30 09:32:23 2012 -0700 | ||
| + | +++ b/rcconsole/include/rcconsole/log_filter.h Fri Oct 18 14:04:22 2013 +0200 | ||
| + | @@ -21,6 +21,9 @@ | ||
| + | |||
| + | #include <rosgraph_msgs/Log.h> | ||
| + | |||
| + | +#include "ros/ros.h" | ||
| + | +#include "std_msgs/String.h" | ||
| + | + | ||
| + | namespace rcconsole { | ||
| + | |||
| + | class LogFilter : public nodelet::Nodelet { | ||
| + | </syntaxhighlight> | ||
== Mode 2 == | == Mode 2 == | ||
Revision as of 12:08, 18 October 2013
Mode 1
Get packages
Step 1: Create a rosinstall file: (e.g turtlebot_roomba.install)
- hg:
uri: http://code.google.com/p/parsec/
local-name: RoCKIn/parsec
- svn:
uri: http://code.in.tum.de/svn/turtlebot-roomba
local-name: RoCKIn/turtlebot_roomba
- svn:
uri: http://isr-uc-ros-pkg.googlecode.com/svn/stacks/lse_communication/trunk
local-name: RoCKIn/lse_communication
- svn:
uri: http://isr-uc-ros-pkg.googlecode.com/svn/stacks/serial_communication/trunk/cereal_port/
local-name: RoCKIn/cereal_port
Step 2: In your ROS workspace you can launch
rosinstall . turtlebot_roomba.install
Step 3: Some packages in parsec have deprecated methods, so we can remove in the compilation (this is a todo, and the turtlebot_roomba doesn't need all of them) and make a few changes
Move outside folder parsec:
cmd_vel_safety_filter gmapping_offline parsec_arduino parsec_arduino_tests tf_odometry_relay
Other changes
diff -r f47a20bb44a5 parsec_bringup/manifest.xml
--- a/parsec_bringup/manifest.xml Fri Mar 30 09:32:23 2012 -0700
+++ b/parsec_bringup/manifest.xml Fri Oct 18 14:04:22 2013 +0200
@@ -15,7 +15,7 @@
<depend package="rospy" />
<depend package="geometry_msgs" />
<depend package="priority_mux" />
- <depend package="cmd_vel_safety_filter" />
+ <!-- <depend package="cmd_vel_safety_filter" /> -->
<depend package="compressed_visualization_transport" />
</package>
diff -r f47a20bb44a5 parsec_navigation/manifest.xml
--- a/parsec_navigation/manifest.xml Fri Mar 30 09:32:23 2012 -0700
+++ b/parsec_navigation/manifest.xml Fri Oct 18 14:04:22 2013 +0200
@@ -16,6 +16,8 @@
<depend package="move_base" />
<depend package="navfn" />
<depend package="parsec_perception" />
- <depend package="point_cloud_converter" />
+ <!-- <depend package="point_cloud_converter" /> -->
+ <depend package="pointcloud_to_laserscan" />
+<depend package="sensor_msgs"/><!-- for point cloud should be removed-->
<depend package="rcconsole" />
</package>
diff -r f47a20bb44a5 parsec_odometry/manifest.xml
--- a/parsec_odometry/manifest.xml Fri Mar 30 09:32:23 2012 -0700
+++ b/parsec_odometry/manifest.xml Fri Oct 18 14:04:22 2013 +0200
@@ -16,6 +16,6 @@
<depend package="parsec_msgs" />
<depend package="nav_msgs" />
<depend package="sensor_msgs" />
- <depend package="eigen" />
+ <!-- <depend package="eigen" /> -->
</package>
diff -r f47a20bb44a5 rcconsole/include/rcconsole/log_filter.h
--- a/rcconsole/include/rcconsole/log_filter.h Fri Mar 30 09:32:23 2012 -0700
+++ b/rcconsole/include/rcconsole/log_filter.h Fri Oct 18 14:04:22 2013 +0200
@@ -21,6 +21,9 @@
#include <rosgraph_msgs/Log.h>
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
namespace rcconsole {
class LogFilter : public nodelet::Nodelet {
