ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
|
Repository Summary
| Description | FIRA RoboSot |
| Checkout URI | https://github.com/tkuwheel/tkurobosot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-02-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | mobile-robot soccer-robot |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| joy | 1.9.10 |
| joystick_drivers | 1.9.10 |
| nubot_common | 0.0.0 |
| nubot_description | 1.0.0 |
| nubot_gazebo | 0.1.0 |
| transfer | 0.0.0 |
| imu_3d | 0.0.0 |
| mjpeg_server | 1.1.2 |
| motion | 1.0.0 |
| image_exposure_msgs | 0.13.4 |
| pointgrey_camera_description | 0.13.4 |
| pointgrey_camera_driver | 0.13.4 |
| statistics_msgs | 0.13.4 |
| wfov_camera_msgs | 0.13.4 |
| self_localization | 0.0.0 |
| strategy | 0.2.0 |
| vision | 0.0.0 |
README
TKU RoboSot Project
The purpose of this project is implementing, researching, developing the Soccer Robot for FIRA RoboSot League.
Requirement & Installation
System:
~ROS Kinetic w/ Ubuntu 16.04 Install~
ROS Melodic w/ Ubuntu 18.04 Install
ROS2 Dashing w/ Ubuntu 18.04 Install
Setup:
$ mkdir -p robosot_ws/src && cd robosot_ws
$ git clone https://github.com/tkuwheel/TKURoboSot.git src/
ROS Packages:
$ sudo apt-get install ros-melodic-rosbridge-server ros-melodic-prosilica-camera
$ sudo apt-get install ros-melodic-rosserial ros-melodic-rosserial-arduino
ROS2 Packages:
$ sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice
$ sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)
$ sudo apt-get install python3-colcon-common-extensions
$ sudo apt-get install ros-dashing-launch*
Python packages:
$ cd src/
$ pip install -r requirements.txt
Installization and Requirments of FLIR Grasshopper3 Camera
see pointgrey_camera_driver/README.md
Compiling
$ catkin_make
Setup udev rules:
$ sudo cp <path to motion>/rule/* /etc/udev/rules.d/
Compiling ROS2
$ cd <ros1_ws>/src/ros2/ros2_ws
# Build ros2 message first
$ colcon build --symlink-install --packages-select strategy
Build custom ros1_bridge
$ source /opt/ros/dashing/setup.bash
$ source <ros1_ws>/devel/setup.bash
$ source <ros2_ws>/install/setup.bash
$ colcon build --symlink-install --packages-select ros1_bridge
Startup
Environment Setting
$ echo "export RMW_IMPLEMENTATION=rmw_connext_cpp" >> ~/.bashrc
# Get Camera's serial number
$ rosrun pointgrey_camera_driver list_cameras
# Setting Robot's number & Camera's Serail number
$ source Setting.sh
# Gazebo Simulator
$ roslaunch nubot_gazebo game_ready.launch
# Strategy w/ simulation mode
$ roslaunch strategy core.launch sim:=true
# Launch robot devices
$ roslaunch strategy main_7th_all.launch
# GUI
# using plugin of dynamic_reconfigure
$ rqt
$ source <ros2_ws>/install/setup.bash
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Troubleshooting
import error
from error import *
ImportError: No module named 'error'
Missing ‘rospkg’ ‘catkin_tools’
pip install rospkg catkin_tools
import rospkg library error:
ImportError: No module named 'rospkg'
Add the line to ~/.bashrc
export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages
pip3 syntax error
Error message:
Traceback (most recent call last):
File "/usr/bin/pip3", line 9, in <module>
from pip import main
File "/usr/lib/python2.7/dist-packages/pip/__init__.py", line 16, in <module>
from pip.vcs import git, mercurial, subversion, bazaar # noqa
File "/usr/lib/python2.7/dist-packages/pip/vcs/subversion.py", line 9, in <module>
from pip.index import Link
File "/usr/lib/python2.7/dist-packages/pip/index.py", line 30, in <module>
from pip.wheel import Wheel, wheel_ext
File "/usr/lib/python2.7/dist-packages/pip/wheel.py", line 6, in <module>
import compileall
File "/usr/lib/python3.5/compileall.py", line 20, in <module>
from concurrent.futures import ProcessPoolExecutor
File "/usr/lib/python2.7/dist-packages/concurrent/futures/__init__.py", line 8, in <module>
from concurrent.futures._base import (FIRST_COMPLETED,
File "/usr/lib/python2.7/dist-packages/concurrent/futures/_base.py", line 357
raise type(self._exception), self._exception, self._traceback
^
SyntaxError: invalid syntax
Edit
Replace ```raise type(self._exception), self._exception, self._traceback
with
```raise Exception(self._exception).with_traceback(self._traceback)
About Us
Tamkang University Intelligent Automation And Robotics Center
Our Research
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.