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INSTALLATION.md

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Installation

Prerequisites

  • ROS Melodic
  • Gazebo 9 or higher
  • Ubuntu packages: python-rosdep, python-catkin-tools
sudo apt-get install -y python-rosdep python-catkin-tools

Compiling

  1. Create a catkin workspace

    mkdir -p ~/create_ws/src

  2. Clone this repo

    cd ~/create_ws/src
git clone https://github.com/RoboticaUtnFrba/create_autonomy.git
git clone https://github.com/RoboticaUtnFrba/libcreate.git

  3. Install dependencies

    I. Install RTIMULib

    cd ~/create_ws
./src/create_autonomy/sensors/ca_imu/scripts/install_rtimulib.sh

    II. Install other dependencies

    cd ~/create_ws
sudo apt install -y python3-vcstool
vcs import src < src/create_autonomy/dependencies.repos
rosdep update
rosdep install --from-paths src -yi

  4. Build workspace

    cd ~/create_ws
catkin_make -DCMAKE_BUILD_TYPE=Release

USB Permissions

  1. In order to connect to Create over USB, ensure your user is in the dialout group

    sudo usermod -a -G dialout $USER
source ~/create_ws/src/create_autonomy/ca_bringup/scripts/udev/create_rules.sh

  2. Logout and login for permission to take effect