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1. ROS Kinetic and Gazebo8 setup
Welcome to the ILIAD wiki!
The software we develop is to be used on Ubuntu Xenial, with ROS Kinetic and Gazebo 8.
All the software is tested on Ubuntu Xenial.
Follow the instructions in the README at OrebroUniversity orunav GitHubpage
Just follow the instructions in section Using the L-CAS repository at this link: L-CAS
Follow up to the first step of point 4.
This should install ROS Kinetic, Gazebo 8, and ORU Navigation stack.
In case of troubles, try the following sections.
Try the following commands
sudo apt-get remove ros-kinetic-desktop-full
sudo apt-get remove ros-kinetic-gazebo*
sudo apt-get upgrade
sudo apt-get install ros-kinetic-gazebo8*
sudo apt-get install ros-kinetic-gazebo-worlds-oru
sudo apt-get install ros-kinetic-orunav-mpc
sudo apt-get install ros-kinetic-navigation-oru
source /opt/ros/kinetic/setup.bash
If there are problems running Gazebo after this, keep going with the Long version.
Go to ROS Kinetic install guide and install only the core of ROS, i.e.
sudo apt-get install ros-kinetic-ros-base
Further ROS packages can be addedd manually later.
Follow Gazebo 8 install guide to install Gazebo8 alongside ROS Kinetic.
Check if launching roscore and gazebo on a terminal, the correct versions have been installed.
sudo apt-get install ros-kinetic-catkin
sudo apt-get install rviz
sudo apt-get install ros-kinetic-controller-manager ros-kinetic-joint-state-controller ros-kinetic-joint-trajectory-controller ros-kinetic-rqt ros-kinetic-rqt-controller-manager ros-kinetic-rqt-joint-trajectory-controller ros-kinetic-ros-control ros-kinetic-rqt-gui
If it asks for qt5 packages, try installing qt5 from here Qt5
sudo apt-get install ros-kinetic-rqt-plot ros-kinetic-rqt-graph ros-kinetic-rqt-rviz ros-kinetic-rqt-tf-tree
sudo apt-get install ros-kinetic-gazebo8-ros ros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-forward-command-controller ros-kinetic-tf-conversions ros-kinetic-xacro ros-kinetic-joint-state-publisher ros-kinetic-robot-state-publisher