Multiverse-World

isr_testbed:

Installation:

ROS:

• if you don't have ROS installed open a terminal and insert:
  • sudo apt-get install ros-noetic-roslisp-repl

Gazebo

• if you dont have Gazebo installed open a terminal and insert:

  • curl -sSL http://get.gazebosim.org | sh

• Download cob gazebo objects

  • sudo apt install ros-noetic-cob-gazebo-objects

Workspace

• Create a workspace and src directory

  • mkdir -p workspace_name/src
  • cd workspace_name/src

• Be sure to have the hsr descirption of code iai sourced or clone the repository into this workspace

  • git clone https://github.com/code-iai/hsr_description.git

• clone the main branch of this git repository

  • git clone https://github.com/K3cks/Multiverse-World

• clone cram repository and checkout devel branch

  • git clone https://github.com/cram2/cram.git
  • cd cram && git checkout devel

• go into workspace directory, update dependencies

  • cd ..
  • rosdep update
  • rosdep install --ignore-src --from-paths src/ -r

• Then build and source the workspace

  • catkin build
  • source devel/setup.bash

Launch:

With sourced workspace: 'roslaunch isr_testbed isr_testbed.launch'

• On Gazebo: Press play

• upload other hsrb_description

  • roslaunch isr_testbed upload_hsrb.launch

• roslisp_repl in new terminal

• Load and get in package, start ros

  • load package (ros-load:load-system "isr_testbed_cram" :isr-testbed-cram)
  • (in-package :isr-testbed)
  • (start-ros)

• Finally you can start the demo

  • (with-hsr-process-modules (isr-demo))