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INSTALLATION.md

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Installation

Prerequisites

  • ROS Kinetic or Melodic
  • Gazebo 9 or higher
  • Ubuntu packages: python-rosdep, python-catkin-tools
sudo apt-get install -y python-rosdep python-catkin-tools

Compiling

  1. Create a catkin workspace

    mkdir -p ~/create_ws/src

  2. Clone this repo

    cd ~/create_ws/src
git clone https://github.com/RoboticaUtnFrba/create_autonomy.git

  3. Compile RTIMULib2

    cd ~/create_ws/src/RTIMULib2/Linux && mkdir build && cd build
sudo apt-get install -y libqt4-dev
cmake ..
make -j4
sudo make install
sudo ldconfig

  4. Install dependencies

    sudo apt-get install -y gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
cd ~/create_ws
sudo apt install -y python3-vcstool
vcs import src < src/create_autonomy/<DEVICE>.repos
rosdep update
rosdep install --from-paths src -i

  5. Build

    5.1. Build RTIMULib2 for Raspberry Pi

    cd ~/create_ws/src/RTIMULib2/Linux
mkdir build
cd build
cmake ..
make -j4
sudo make install
sudo ldconfig

    5.2. Build workspace

    cd ~/create_ws
catkin_make -DCMAKE_BUILD_TYPE=Release

USB Permissions

  1. In order to connect to Create over USB, ensure your user is in the dialout group

    sudo usermod -a -G dialout $USER

  2. Logout and login for permission to take effect