Workstation packages installation


In this section you will find the guide to install all required packages for the workstation.

  • First you will need to install ROS on your computer if you do not have it yet.
  • Then you will download and install all the packages needed from our GitHub platform.

ROS installation

In order to fully test the robots features we recommend using:

· Ubuntu 16.04 LTS

· ROS Kinetic

The Ubuntu installation is beyond the scope of this tutorial, please refer to:

We recommend following the tutorial for ROS Kinetic install on ROS Wiki:

Please note that the Desktop-Full Install configuration is mandatory in order to test all functionalities of the robot:

$ sudo apt-get install ros-kinetic-desktop-full

To test your installation, please proceed to the ROS Tutorials

Workstation packages installation

After Creating your catkin_ws and the src folder, download the Mini-Lab workstation packages minilab_workstation from the GitHub repository:

For ROS Kinetic and later you should install some packages before compiling the workspace.

$ sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-robot-state-publisher ros-kinetic-move-base ros-kinetic-amcl ros-kinetic-depthimage-to-laserscan ros-kinetic-joy ros-kinetic-openni-camera ros-kinetic-rqt-image-view

To start using the Mini-Lab, you should copy all the packages folders from Mini-Lab-master/minilab_workstation/src/ to the folder directory catkin_ws/src/ of your workstation.

The packages should be ready after compiling the workspace:

$ cd ~/catkin_ws/
$ catkin_make

Normally now in your workspace you have the following packages ready to use:

- minilab_demo_hardware_remote : it contains different examples of launch files allowing you to control the robot remotely

- minilab_demo_simulation : it contains examples of launch files allowing you to control the simulation

- minilab_model : it contains the URDF model of Mini-Lab and several maps

- minilab_simulation : allows you to launch the Gazebo simulation

- minilab_teleop : allows you to teleop the mini-lab both simulated and real

- safe_teleop : allows Mini-Lab to avoid obstacles when it is moving around the environment

- minilab_navigation : allows Mini-Lab to navigate in a known environment

Next tutorial :

Wiki: Mini-Lab/Tutorials/Workstation_installation (last edited 2018-12-21 14:38:36 by InesBenAbdallah)