How to install Autonomous bicycle package¶
In order to use this project, we must install first ROS (Robotic Operating System) (tested kinetic) on a Linux PC, then compile the project and finally execute some simulations and tests.
Install ROS and dependencies¶
Follow ROS installation procedure given on:
http://wiki.ros.org/kinetic/Installation/Ubuntu
we can summarize the steps:
Open a command windows on ubuntu and run the following commands:
- Prepare ubuntu for installation:
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:80 --recv-key 0xB01FA116
sudo apt-get update
- Install ROS
For PC/Laptop we should install full desktop version:
sudo apt-get install ros-kinetic-desktop-full
For Raspberry PI 3, Odroid or other embedded system, we can install ROS-Base:
sudo apt-get install ros-kinetic-ros-base
Install rosdep:
sudo rosdep init
rosdep update
And finally prepare environment:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Get and Compile autonomous bicycle project¶
First we need to install some dependencies and ROS packages:
sudo apt-get install libqwt-dev ros-kinetic-teleop-twist-joy ros-kinetic-rviz-imu-plugin python-smbus ros-kinetic-rqt-multiplot git
sudo apt-get install ros-kinetic-gps* ros-kinetic-jsk-rqt-plugins ros-kinetic-jsk-rviz-plugins ros-kinetic-rviz-imu-plugin
sudo apt-get install ros-kinetic-hector-gazebo* ros-kinetic-mapviz*
Finally we create a workspace for project, clone github repositories, install dependencies and compile all:
mkdir -p ~/autonomous_bicycle_ws/src
cd ~/autonomous_bicycle_ws/src
git clone https://github.com/francisc0garcia/autonomous_bicycle
git clone https://github.com/andreasBihlmaier/pysdf
git clone https://github.com/gareth-cross/rviz_satellite
cd ..
catkin_make
If you get some error during compilation, check if all dependencies are installed using:
cd ~/autonomous_bicycle_ws
source devel/setup.bash
rosdep install autonomous_bicycle
catkin_make
Test project¶
Once the project has been compiled successfully, we can run a simulation that includes a bicycle and simple controller.
cd ~/autonomous_bicycle_ws
source devel/setup.bash
roslaunch autonomous_bicycle
if everything is correct, you should see a standing bicycle, which you can control using dynamic reconfigure plugin. Now you are ready to play and extend the project, let’s go to section Tutorials and extensions.