Difference between revisions of "HeRo"
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Alternatively, you can follow this tutorial, which will focus primarily on the ROS setup and development aspects. For the purposes of this tutorial, we will configure HeRo as we would with any other ROS package | Alternatively, you can follow this tutorial, which will focus primarily on the ROS setup and development aspects. For the purposes of this tutorial, we will configure HeRo as we would with any other ROS package | ||
| − | + | ===Set up ROS Workspace=== | |
| − | Create a new ROS workspace. Notice | + | Create a new ROS workspace. Notice you can use <code>catkin build</code> or <code>catkin_make</code> commands, choose one. |
<pre> | <pre> | ||
| Line 27: | Line 27: | ||
catkin build | catkin build | ||
</pre> | </pre> | ||
| + | |||
| + | Download the package to <code>ws_hero/src</code> and build it from source. This is common to do for installing ROS packages. | ||
| + | |||
| + | <pre> | ||
| + | cd ~/ws_hero/src | ||
| + | git clone https://github.com/verlab/hero_common.git | ||
| + | cd .. | ||
| + | rosdep install --from-paths src/hero_common --ignore-src -r -y | ||
| + | catkin build | ||
| + | source devel/setup.bash | ||
| + | </pre> | ||
| + | |||
| + | If you encounter issues in later steps, you may need to select the repository branch of your ROS distribution, see [https://verlab.github.io/hero_common/installation/ HeRo Installation Guide]. You also may need to install [https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html the NVIDIA Container Toolkit]. | ||
Revision as of 13:26, 13 November 2024
HeRo
This project contributes to an open source ROS-based framework for swarm robotics. We propose an low cost, high availability swarm system that could be printed and assembled multiple times without special knowledge or hardware skills.
Main Page: https://verlab.github.io/hero_common/ros/
GitHub: https://github.com/verlab/hero_common/
HeRo ROS Tutorial
In this tutorial, we will create a new script to navigate the HeRo and utilize its sensors to avoid obstacles. To follow along, you must have ROS installed; for this tutorial, I will be using ROS Noetic.
The HeRo main page already has excellent tutorials for setting up the HeRo. You can follow the steps here:
Alternatively, you can follow this tutorial, which will focus primarily on the ROS setup and development aspects. For the purposes of this tutorial, we will configure HeRo as we would with any other ROS package
Set up ROS Workspace
Create a new ROS workspace. Notice you can use catkin build or catkin_make commands, choose one.
mkdir -p ~ ws_hero/src cd ws_hero catkin build
Download the package to ws_hero/src and build it from source. This is common to do for installing ROS packages.
cd ~/ws_hero/src git clone https://github.com/verlab/hero_common.git cd .. rosdep install --from-paths src/hero_common --ignore-src -r -y catkin build source devel/setup.bash
If you encounter issues in later steps, you may need to select the repository branch of your ROS distribution, see HeRo Installation Guide. You also may need to install the NVIDIA Container Toolkit.
