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The aim of this tutorial is to explain how to integrate SIGVerse with ROS operating system.

First, we will show how to install ROS on your operating system, then we will explain step by step how to run SIGVerse controller in ROS node and how to communicate with another node.

The ROS part tutorial is based on the official ROS wiki, you can check it for more details.

Overview

In order to integrate SIGVerse and ROS, we first need to create ROS package containing two nodes, SIGVerse controller node and ROS command node. The first node, SIGVerse controller node, will receive data from the SIGViewer as messages, then publish them on the message topic, in the other part, ROS command node reads these data and subscribe the corresponding velocity on the velocity topic, the velocity command will be retrieved by the SIGVerse controller node to be used for controlling the robot.

Simple_Ros_.PNG

Installing ROS

To install ROS on your server please refer to the official web site.

Creating ROS workspace

In our project we are using catkin, here are the steps to follow to create a ROS workspace:

Run the following command:

$ source /opt/ros/groovy/setup.sh

To create a catkin workspace:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

You can build even though no project is created yet, you just need MakeLists.txt:

$ cd ~/catkin_ws/
$ catkin_make

Run the setup.bash

$ source devel/setup.bash

Creating the package

We need to create a new package in the catkin_ws directory.

Download the project

Please download the project file from here. &ref(): File not found: "ROS_integration.tgz" at page "ROS integration";

Compiling the project

You need to have Cmake installed on your server.

Let's edit the CMakeLists.txt file to compile the project:

Cmake parameters:

add_executable(ros_controller src/ros_controller.cpp)
target_link_libraries(ros_controller ${catkin_LIBRARIES})
add_dependencies(ros_controller sig_ros_gencpp)
ADD_LIBRARY(sig_ros/sig_controller src/sig_controller.cpp)
target_link_libraries(sig_ros/sig_controller ${catkin_LIBRARIES})
add_dependencies(sig_ros/sig_controller sig_ros_gencpp)

A new library will be generated in ~/catkin_ws/devel/lib/libsig_ros.

Run the following command to add this package to ROS packages:

  $source ~/catkin_ws/devel/setup.sh 

We must have the following output:

$ CMakeLists.txt include msg package.xml src

This shows that the sig_ros package exists.

Testing the project

Running the server

To run the server please follow the these steps:

Go to catkin_ws and and follow these steps :

$ roscore
$ cd ~/catkin_ws/devel/lib/libsig_ros
$ sigserver.sh -w ./RobotInMove.xml

Client side

Source Code understanding

SIGVerse controller node

sig_controller.cpp

The following is the callback function which preforms the command on the velocity of the robot’s wheels:

Message Sender

Node Initialization

Robot Controller

This function allows to control the robot using the appropriate velocity.

ROS command node

This is the node that controls the robot’s velocity:

ros_controller.cpp:

Main to execute the Node

Message Sender

World file

RobotInMove.xml:

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Tutorial?


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