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== 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 [[rail_youbot/Tutorials/AddingAUserAndInstallingTheirLocalDrivers|in this tutorial]].

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

 {{{#!shell
cd /path/to/your/local/ros/stacks
git clone https://github.com/WPI-RAIL/rail_youbot.git
roscd rail_youbot
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.

 {{{#!shell
export ROS_HOSTNAME=<hostname>
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 [[https://github.com/WPI-RAIL/rail_youbot/issues|GitHub Issue Tracker]]. Feel free to contact me at any point with questions and comments. 

 * [[Russell Toris|Russell Toris]]
  * [[mailto:rctoris@wpi.edu|rctoris@wpi.edu]]
  * [[http://users.wpi.edu/~rctoris/|Academic Website]]

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