ROS Kinetic Workspace

This ROS workspace is created on Raspbian OS. Here I have installed ROS Kinetic from source using cross-compilation and worked on projects like Surveilling Robot.

Table of content

• Installation
• Package description
• Helper scripts
• Team
• Contributing
• FAQ
• Support
• License
• Acknowledgments

Installation

All the code required to get started

• Prerequisite

  • You should have ROS 1 kinectic build from source on your raspberry pi(raspbian OS).
  • All ROS dependency is satisfied.

• Clone

    git clone https://github.com/iamrajee/roskinetic_catkin_ws.git
    

• Setup

    cd roskinetic_catkin_ws/
    ./refresh.sh
    make
    

Package description

• firstpkg

  first pkg to create simple talker and listener.*

  Terminal 1:

    $ roscore
    $ rosrun firstpkg talker.py
    

Terminal 2:

    $ rosrun firstpkg listen.py
    

• manualcontrol

  
  See full video here. In this pkg is create for a robot name RAWBOT,which is surveling robot.

• manualcontrol_slave

  
  
  This pkg is similar to manualcontrol with some more functionality and modification, and it is meant to be used on ROS Master which is used as Slave in the system on robots

Helper Scripts

• refresh.sh

    #!/bin/bash
    source /opt/ros/kinetic/setup.bash
    source ~/ros_catkin_ws/devel/setup.bash
    source ~/ros_catkin_ws/devel_isolated/setup.bash
    clear
    

> It will source the workspace after buiding workspace or after creating new pkg. Run it as `./refresh.sh`

• makefile

    SHELL=/bin/bash
    all:
        make run
    run:
        catkin_make #catkin_make_isolated
        bash refresh.sh
    

> It will build the workspace . Run it as `make`

• createpkg.sh

    #!/bin/bash
    cd src/
    catkin create $1
    cd ../
    make
    source refresh.sh
    

> It will create new package . Run it as `./createpkg.sh newpkg_name`

• tftree.sh

    #!/bin/bash
    rosrun rqt_tf_tree rqt_tf_tree
    

> It will  launch the gui to visvualise the tf tree. Run it as `./tftree.sh`

• printenv.sh

    #!/bin/bash
    printenv | grep -i ROS
    

> It will print the ROS related environment variable . Run it as `./printenv.sh`

• rosdep.sh

    sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
    

> It will install dependencies of all pkg in the workspace. Run it in the workspace as `./rosdep.sh`

• rajendra.sh

    #!/bin/bash
    ssh rajendra@rajendra
    

> It will ssh into another system. Useful when using multiple ros masters. Run it as `./rajendra.sh`

• googleassistant.sh

    #!/bin/bash
    { # try
        googlesamples-assistant-hotword --project-id first-66e46 --device-model-id first-66e46-firstproduct-hx0n7j
        #googlesamples-assistant-pushtotalk --project-id first-66e46 --device-model-id first-66e46-firstproduct-hx0n7j
    } || { # catch
        # save log for exception
        bash refresh.sh
    }
    

> It will run the googleassistant api in terminal. I used this on RAWBOT 1.0 for audio commads . Run it as `./googleassistant.sh`

Team

Or Contributors/supporters/mentors/guides who helped me out in these projects. | Swami Prasad | Sachin Rustagi | Muskaan Maheshwari | | :—: |:—:| :—:| | | | |

Contributing

To get started…

Step 1

• Option 1
  • 🍴 Fork this repo!
• Option 2
  • 👯 Clone this repo to your local machine using https://github.com/iamrajee/roskinetic_catkin_ws.git

Step 2

• HACK AWAY! 🔨🔨🔨

Step 3

• 🔃 Create a new pull request using https://github.com/iamrajee/roskinetic_catkin_ws/compare/.

FAQ

• I ran into xyz issue while running above package, what do I do?
  • Simply contact me!

Support

Reach out to me for any help! | | | | :—: | — | | | Name : Rajendra Singh
Email : singh.raj1997@gmail.com
Web : https://iamrajee.github.io/
LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/
Twitter: @i_am_rajee | | | |

License

• MIT license

• Copyright (c) 2019 Rajendra Singh.

Acknowledgments

• Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.