- European Robotics Forum 2011 Workshop on the Orocos Toolchain
- European Robotics Forum 2012: workshops
- Geometric relations semantics
- KDL wiki
- Kuka LBR user group
- Links of Orocos components
- OCL wiki
- RTT wiki
- Wiki for site admins
- iTaSC wiki
euRobotics Workshop Sources
Table of Contents
There are two ways you can get the sources for the workshop:
- Using Git
- Using a zip file
Since the sources are still evolving, it might be necessary to update your version before the workshop.
Hello World applicationThe first, ROS-independent part, uses the classical hello-world examples from the rtt-exercises package.
You can either check it out with
mkdir ~/ros cd ~/ros git clone git://gitorious.org/orocos-toolchain/rtt_examples cd rtt_examples/rtt-exercises
Or you can download the examples from here. You need at least version 2.3.1 of the exercises.
If you're not using ROS, you can download/unzip it in another directory than ~/ros.
Youbot demo application
The hands-on session involves working on a demo application with a YouBot robot. The application allows you to
- Drive the YouBot around based on pose estimates using laser scan measurements
- Simulate the YouBot on your own computer
The Youbot demo application is available on https://github.com/bellenss/euRobotics_orocos_ws (this is still work in progress and will be updated regularly)
You can either check it out with
mkdir ~/ros export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$HOME/ros cd ~/ros git clone http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/scan_tools.git git clone http://git.mech.kuleuven.be/robotics/orocos_bayesian_filtering.git git clone http://git.mech.kuleuven.be/robotics/orocos_kinematics_dynamics.git git clone git://github.com/bellenss/euRobotics_orocos_ws.git roscd youbot_supervisor rosmake --rosdep-install
Check that ~/ros is in your ROS_PACKAGE_PATH environment variable at all times, by also adding the export line above to your .bashrc file.
Testing your setupHere are some instructions to see if you're running a system usable for the workshop.
Non-ROS usersYou have built RTT with the 'autoproj' tool. This tool generated an 'env.sh' file. You need to source that file in each terminal where you want to build or run an Orocos application:
cd orocos-toolchain source env.sh
Next, cd to the rtt-exercises directory that you unpacked, enter hello-1-task-execution, and type make:
cd rtt-exercises-2.3.0/hello-1-task-execution make all cd build ./HelloWorld-gnulinux
ROS usersYou have built RTT from the orocos_toolchain_ros package. Make sure that you source the /opt/ros/diamondback/setup.bash script and that the unpacked exercises are under a directory of the ROS_PACKAGE_PATH:
cd rtt-exercises-2.3.0 source /opt/ros/diamondback/setup.bash export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:\$(pwd)
Next, you proceed with going into an example directory and type make:
cd hello-1-task-execution make all ./HelloWorld-gnulinux
Testing the YouBot Demo
After you have built the youbot_supervisor, you can test the demo by opening two consoles and do in them:
roscd youbot_supervisor ./simulation.sh
roscd youbot_supervisor ./changePathKst (you only have to do this once after installation) kst plotSimulation.kst
If you do not have 'kst', install it with
sudo apt-get install kst kst-plugins