How to install suricate robot

In order to use this project, we must install first ROS (tested on Jade and kinectic), then compile the project and finally run some simulations and tests.

Install ROS and dependencies

Follow ros installation procedure:

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 2 and Odroid 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

Compile project

First we need to install some dependencies:

Install pigpio library for GPIO access into raspberry PI 2, source: http://abyz.co.uk/rpi/pigpio/download.html

rm pigpio.zip
sudo rm -rf PIGPIO
wget abyz.co.uk/rpi/pigpio/pigpio.zip
unzip pigpio.zip
cd PIGPIO
make -j4
sudo make install

Then we should install some additional 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

Finally we create a workspace for project, clone github repository, install dependencies and compile it:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/francisc0garcia/suricate_robot
cd ..
source devel/setup.bash
rosdep install suricate_robot
catkin_make

Test project

Once the project has been compiled successfully, we can run a simulation that includes suricate robot using a simple controller for stabilization.

cd ~/catkin_ws
source devel/setup.bash
roslaunch suricate_robot PC_simulation_project.launch

Now you are ready to play and extend the project, let’s go to section Tutorials and extensions.