{"id":12344,"date":"2019-04-08T12:05:31","date_gmt":"2019-04-08T10:05:31","guid":{"rendered":"https:\/\/blog.zhaw.ch\/icclab\/?p=12344"},"modified":"2021-03-04T18:45:29","modified_gmt":"2021-03-04T16:45:29","slug":"running-the-icclab-ros-kinetic-environment-on-your-own-laptop","status":"publish","type":"post","link":"https:\/\/blog.zhaw.ch\/icclab\/running-the-icclab-ros-kinetic-environment-on-your-own-laptop\/","title":{"rendered":"Running the ICCLab ROS Kinetic environment on your own laptop"},"content":{"rendered":"\n

As we are making progress on the development of robotic applications in our lab, we experience benefits from providing an easy-to-deploy common ROS Kinetic environment for our developers so that there is no initial setup time needed before starting working on the real code. At the same time, any interested users that would like to test and navigate our code implementations could do this with a few commands. One git clone <\/em>command is now enough to download our up-to-date repository<\/em> to your local computer and run our ROS kinetic environment including a workspace with the current ROS projects. <\/p>\n\n\n\n

To reach this goal we created a container that includes the ROS Kinetic distribution, all needed dependencies and software packages needed for our projects. No additional installation or configuration steps are needed before testing our applications. The git repository of reference can be found at this link: https:\/\/github.com\/icclab\/rosdocked-irlab<\/a><\/p>\n\n\n\n\n\n\n\n

After cloning the repository on your laptop, you can run the ROS kinetic environment including the workspace and projects with these two simple commands:<\/p>\n\n\n\n

cd workspace_included\n.\/run-with-dev.sh<\/code><\/pre>\n\n\n\n
This will pull the robopaas\/rosdocked-kinetic-workspace-included<\/em> container to your laptop and start it with access to your X server.<\/p>\n\n\n\n
The two projects you can test<\/h2>\n\n\n\n
Once you are inside the container you will have everything that is needed to test and play around with the two projects we are currently working on, namely robot navigation<\/em> and pick&place<\/em>. Both of the projects are based on the hardware we recently acquired. The hardware is our SUMMIT-XL Steel<\/a> from Robotnik<\/a>, equipped with a Universal Robots UR5 <\/a>arm and a Schunk Co-act EGP-C 40<\/a> gripper (see a picture of the hardware below). Besides this, we mounted a Intel Realsense D435<\/a> camera on the UR5 arm and two Scanse Sweep LIDARs<\/a> on 3D-printed mounts<\/a>. Please have a look at our previous blog post for more details about the robot setup and configuration<\/a>.<\/p>\n\n\n\n
\"Summit_xl
Summit_xl, with UR5 arm and Schunk gripper<\/figcaption><\/figure>\n\n\n\n
robot navigation project<\/strong><\/h3>\n\n\n\n
You can test our robot navigation project by launching a single launch file from the icclab_summit_xl <\/em>project in the container:<\/p>\n\n\n\n
roslaunch icclab_summit_xl irlab_sim_summit_xls_amcl.launch<\/code><\/pre>\n\n\n\n
A Gazebo simulation environment will be started with an indoor simulated scenario where the Summit_xl<\/em> robot can be moved around. Additionally Rviz will be launched for visualization of the Gazebo data (see picture below). <\/p>\n\n\n\n