 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Install and Configure Husky Software
Description: Setting up the Husky robot PC from scratch using an installer image.Keywords: Clearpath Husky
Tutorial Level: ADVANCED
Next Tutorial: Customize Husky Configuration
This tutorial forgoes using the official Clearpath ISO images for your Husky bringup, leading to a non-standard and unsupported Husky configuration. We highly recommend you use the ISO-installer based tutorial unless absolutely necessary.
- Setup your robot PC to your preference, with either Ubuntu Saucy or Trusty.
Setup ROS Indigo (http://wiki.ros.org/indigo/Installation/Ubuntu)
Setup the Clearpath Robotics packages repository (http://packages.clearpathrobotics.com)
- Install the Husky packages:
$ sudo apt-get install ros-indigo-husky-robot
- Install the udev rules that come with Husky:
$ sudo cp $(rospack find husky_bringup)/udev/*.rules /etc/udev/rules.d
Create a robot-wide setup file, such as /etc/ros/setup.bash (sample below):
# Mark location of self so that robot_upstart knows where to find the setup file. export ROBOT_SETUP=/etc/ros/setup.bash # Setup robot upstart jobs to use the IP from the network bridge. # export ROBOT_NETWORK=br0 # Insert extra platform-level environment variables here. The six hashes below are a marker # for scripts to insert to this file. ###### # Pass through to the main ROS workspace of the system. source /opt/ros/indigo/setup.bash
Source this robot-wide setup file in your ~/.bashrc file:
... source /etc/ros/setup.bash
- Refresh your environment by executing:
$ . ~/.bashrc
- Create a robot_upstart job to start the Husky software each time the robot PC is booted. This command will create the job, and copy the base.launch file to the /etc/ros/indigo/husky-core.d/ directory:
$ rosrun robot_upstart install husky_base/launch/base.launch --job husky_core --setup '/etc/ros/setup.bash'
- To start launch files for additional standard Husky components, we can augment the husky-core job. Run the following command to add any launch files in the husky_bringup/launch/um6_config/ directory to the job:
$ rosrun robot_upstart install husky_bringup/launch/um6_config --job husky_core --augment
