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ROS packages from the Knowledge-Based Systems group at the University of Osnabrück.
We are actively developing most of these packages. If you use our packages and have any comments/bug reports/patches, we'd be happy to hear from you!
Make sure to select the ROS distro you're using with the buttons above.
Installation
Prerequisites
TL;DR: Make sure you have those dependencies that are already released as Ubuntu packages installed on your machine.
On our development machines, we have the following setup:
Ubuntu 12.04 (Precise)
Fuerte / Groovy / Hydro (see compatibility matrix below)
ROS Ubuntu packages installed by default on our machines:
Fuerte:
ros-fuerte-camera-umd ros-fuerte-desktop-full ros-fuerte-joystick-drivers ros-fuerte-laser-drivers ros-fuerte-move-arm ros-fuerte-object-manipulation ros-fuerte-openni-kinect ros-fuerte-pr2-object-manipulation ros-fuerte-robot-model-py
Hydro:
ros-hydro-audio-common ros-hydro-cmake-modules ros-hydro-convex-decomposition ros-hydro-desktop-full ros-hydro-gazebo-ros-control ros-hydro-ivcon ros-hydro-joystick-drivers ros-hydro-libuvc-ros ros-hydro-moveit-full ros-hydro-object-recognition-capture ros-hydro-object-recognition-ros ros-hydro-object-recognition-tabletop ros-hydro-openni-launch ros-hydro-openni2-launch ros-hydro-pr2-controllers ros-hydro-python-orocos-kdl ros-hydro-ros-control ros-hydro-ros-controllers ros-hydro-sicktoolbox-wrapper ros-hydro-slam-gmapping ros-hydro-sound-play ros-hydro-urdfdom-py
If you install all of these, you'll have everything needed to compile our stacks. On the other hand, you will also get a lot more than strictly necessary, so if you have tight disk space requirements, you can instead hunt down missing dependencies one by one and only install those Ubuntu packages which are absolutely necessary.
Just for debugging information: tested using gcc version 4.6.4, although we never had a problem compiling with earlier versions.
Installing uos-ros-pkg
The easiest way to install uos-ros-pkg and all dependencies is to run the following commands:
Fuerte
rosws init ~/ros-fuerte /opt/ros/fuerte # replace ros-fuerte by wherever you want your ROS Fuerte code; should not exist yet
empty
cd ~/ros-fuerte
rosws init
. setup.bash
rosws merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-fuerte.rosinstall
rosws update
. setup.bash
rosdep update
rosdep install diffdrive_gazebo_plugin katana_driver katana_manipulation \
kurtana_robot kurt_navigation kurt_driver sick_tim uos_slam uos_tools
(cd overlays && rosmake *)
(cd uos-ros-pkg && rosmake *)
Groovy
Didn't get around to writing this section yet. See https://github.com/uos/uos_rosinstalls/blob/master/uos-public-groovy.rosinstall .
Hydro
# create catkin workspace: . /opt/ros/hydro/setup.bash mkdir -p ~/ros-hydro/wet/src/ cd ~/ros-hydro/wet/src/ wstool init wstool merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-hydro-wet.rosinstall wstool update catkin_init_workspace cd .. catkin_make . ~/ros-hydro/wet/devel/setup.bash # create rosbuild workspace: mkdir ~/ros-hydro/dry cd ~/ros-hydro/dry rosws init . ~/ros-hydro/wet/devel . ~/ros-hydro/dry/setup.bash rosws merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-hydro-dry.rosinstall rosws update # install dependencies rosdep update rosdep install diffdrive_gazebo_plugin katana_driver kurt3d kurt_driver kurt_navigation sick_tim uos_slam uos_tools volksbot_driver # link one package that's already catkinized to the wet workspace cd ~/ros-hydro/wet/ ln -s ~/ros-hydro/dry/uos-ros-pkg/katana_driver/katana_moveit_ikfast_plugin/ src/ catkin_make # build the dry workspace cd ~/ros-hydro/dry . setup.bash rosmake -a # make sure the correct setup.bash is sourced in each new shell echo ". ~/ros-hydro/dry/setup.bash" >> ~/.bashrc
Indigo
# create catkin workspace . /opt/ros/indigo/setup.bash mkdir -p ~/ros-indigo/src/ cd ~/ros-indigo/src/ wstool init wstool merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-indigo-wet.rosinstall wstool update # install dependencies rosdep update rosdep install --from-paths ./ -i -y --rosdistro indigo # build all packages catkin_init_workspace cd .. catkin_make . ~/ros-indigo/devel/setup.bash # make sure the correct setup.bash is sourced in each new shell echo ". ~/ros-indigo/devel/setup.bash" >> ~/.bashrc
ROS Release Compatibility
The stacks have been tested with the following ROS releases:
|
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
basler_tof |
--- |
--- |
--- |
--- |
--- |
indigo |
calvin_robot |
--- |
--- |
fuerte |
--- |
hydro |
indigo |
diffdrive_gazebo_plugin |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
katana_driver |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
katana_manipulation |
diamondback |
--- |
fuerte |
groovy_transition |
--- |
--- |
kurtana_robot |
diamondback |
--- |
fuerte |
groovy_transition |
--- |
--- |
kurt3d |
--- |
--- |
--- |
--- |
hydro |
indigo |
kurt_driver |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
kurt_navigation |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
rviz_fps_plugin |
--- |
--- |
--- |
--- |
hydro |
indigo |
sick_tim |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
slam6d_exporter |
--- |
--- |
--- |
--- |
--- |
indigo_catkin |
uos_rotunit |
--- |
--- |
--- |
--- |
hydro |
indigo |
uos_slam |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
uos_tools |
diamondback |
electric |
fuerte |
groovy |
hydro |
indigo |
volksbot_driver |
??? |
??? |
master |
master |
hydro |
indigo |
How to read this table:
- "---" = not supported (yet)
- "???" = not tested (if you test it and it works, send us a mail)
"diamondback" / "..." = supported by branch named diamondback/...
