About

This package contains a useful launch file that can be used on a Kuka youBot to launch its motors, a Kinect sensor, load the robot description, and start the state publisher. This package will load the URDF found in the rail_youbot_description package as its robot description.

Installation

Before installing the rail_youbot stack, be sure to install the necessary dependencies. Instructions on installing the various youBot packages can be found in this tutorial.

To install the rail_youbot stack, simply run the following commands in your shell:

  •    1 cd /path/to/your/local/ros/stacks
       2 git clone https://github.com/WPI-RAIL/rail_youbot.git
       3 roscd rail_youbot
       4 rosmake rail_youbot
    

This will ensure all dependencies are met and that the package is ready for use.

Startup

This package contains a rail_youbot.launch file which should require no modifications for use you your youBot. To start the script, run the following command on your robot:

  • roslaunch rail_youbot_launch rail_youbot_launch.launch

Remote ROS Core

In some cases you may want to run on off-board roscore server. If this is the case, you need to tell ROS to do so before launching the above file. In the ~/.bashrc file on your robot, add the following lines (replacing the parts in < > with the appropriate information.

  •    1 export ROS_HOSTNAME=<hostname>
       2 export ROS_MASTER_URI=http://<remote-roscore-server-ip>:11311
    

After saving the file, reload your .bashrc file with the following command:

  • . ~/.bashrc

Now, when launching the launch file above, the robot will communicate with a remote roscore instead of its own local roscore.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.


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Wiki: rail_youbot_launch (last edited 2013-01-09 15:16:02 by Russell Toris)