bender-ros

This repository contains ROS packages for the Bender robot designed and built by a group of students from the Vertically Integrated Projects (VIP) program at Boise State University.

Installation

These ROS packages are tested on ROS Noetic. The following commands will:

1. Clone this repo
2. Install ROS dependencies to build and run the packages in this repository
3. Install Gazebo models
4. Install udev rule for Logitech F710 joystick, PX4, Teensy, and logitech webcam

CATKIN_WS=$HOME/projects/bender/ros
mkdir -p $CATKIN_WS/src && cd $CATKIN_WS/src 
git clone --recursive https://github.com/boisestate-vip/bender-ros.git
cd $CATKIN_WS
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
cd $CATKIN_WS/src/bender-ros/bender_gazebo/models && ./install_models.sh
cd $CATKIN_WS/src/bender-ros/bender_base/scripts && ./joy_udev.sh && ./teensy_udev.sh
cd $CATKIN_WS/src/bender-ros/bender_perception/scripts && ./logitech_webcam_udev.sh
cd $CATKIN_WS/src/bender-ros/bender_localization/scripts && ./px4_udev.sh
cd $CATKIN_WS
catkin build

Simple Navigation

Launch a simple navigation demo in Gazebo using the following:

roslaunch bender_gazebo simple_nav.launch