rosie_motion

Motion control ROS node to allow Rosie to run on the Fetch. You will need a simulated Fetch and all related dependencies to see this working! The packaged Fetch software is only for ROS indigo as of this writing, so instructions to compile from source are below.

Installation requirements

1. Ubuntu 16.04 or bust

2. ROS Kinetic, installation instructions here

3. Package dependencies: sudo apt-get install cmake gazebo7 git-core git-gui ros-kinetic-rosbridge-server ros-kinetic-rgdb-launch ros-kinetic-moveit ros-kinetic-costmap-2d ros-kinetic-moveit-python ros-kinetic-control-toolbox python-catkin-tools

4. Create ~/catkin_ws and ~/catkin_ws/src, cd ~/catkin_ws, run catkin build

5. Add line to ~/.bashrc: source ~/catkin_ws/devel/setup.bash

6. Clone these repos into ~/catkin_ws/src:
   fetchrobotics/fetch_ros
   fetchrobotics/fetch_gazebo - then check out the gazebo7 branch
   fetchrobotics/robot_controllers
   wg-perception/opencv_candidate
   emamanto/rosie_msgs
   ...and this repo, of course

7. Download the rapidjson header files and put them in ~/catkin_ws/src/rosie_motion/include, and make sure the path in the init() function in ObjectDatabase.cpp is correct for your computer

8. In ~/catkin_ws, run catkin build again to check that all dependencies have been met

9. Launch main program with roslaunch rosie_motion sim_rosie_motion.launch