Software
The code base of the robot consists of multiple packages, which are organized within separate repositories to keep the system as modular as possible. Under Repository overview you can find a list of repositories with a short function description.
Prerequisites
The framework is currently implemented under Ubuntu 16.04 (ROS Kinetic) and Ubuntu 18.04 (ROS Melodic). Therefore, to use the packages the following prerequisites must be met:
- Ubuntu 16.04 and ROS Kinetic
- Ubuntu 18.04 and ROS Melodic
- Configured ROS Environment - ROS workspace created and configured
General installation instructions
If not further specified the dependencies can be installed via wstool and rosdep. From the workspace’s root folder (e.g. ~/cmr_ws) run:
wstool init src
Clone the repository
git clone git@github.com:MarvinStuede/[REPO_NAME].git src/[REPO_NAME]
Where you replace [REPO_NAME] with the specific repository. Merge the rosinstall file and fetch code for dependencies
wstool merge -t src src/[REPO_NAME]/[ROSINSTALL_NAME].rosinstall
wstool update -t src
Download binary dependencies for all new packages
rosdep update
rosdep install --from-paths src --ignore-src -r -y