User:Ws342 - Revision history

Ws342 at 20:49, 19 June 2012

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Ws342 at 20:43, 19 June 2012

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Ws342 at 20:37, 19 June 2012

2012-06-19T20:37:35Z

Ws342 at 19:46, 19 June 2012

2012-06-19T19:46:26Z

Ws342 at 19:45, 19 June 2012

2012-06-19T19:45:49Z

Ws342 at 19:45, 19 June 2012

2012-06-19T19:45:18Z

Ws342 at 19:44, 19 June 2012

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Ws342 at 19:36, 19 June 2012

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Ws342 at 19:30, 19 June 2012

2012-06-19T19:30:45Z

Ws342 at 19:12, 19 June 2012

2012-06-19T19:12:46Z

← Older revision		Revision as of 20:49, 19 June 2012
Line 498:		Line 498:

	<h5>Improving your robot with XACRO</h5>		<h5>Improving your robot with XACRO</h5>
		+	Xacro is a macro language which can make it much easier to design and customize a robot with accuracy
		+	<h6>
		+	variables
		+	</h6>
		+	<p>
		+	In xacro you can define variables at the start of a the xacro file. variables make it easier to alter a value of a parameter as you will not have to change it in multiple places later.
		+	</p>
		+
		+	<h6>
		+	Macros
		+	</h6>
		+
		+	<h6>
		+	Math
		+	</h6>

	for additional information on how to improve your urdf robot with xacro, i would suggest going through the [http://www.ros.org/wiki/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File ros xacro tutorial]		for additional information on how to improve your urdf robot with xacro, i would suggest going through the [http://www.ros.org/wiki/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File ros xacro tutorial]

@@ Line 506: / Line 506: @@
 <h1>ros TF</h1>
 <p>
-I spent two weeks learning how to create a broadcaster/listener using the ros tf package. essentially the purpose of the package is to automate the process of
+I spent two weeks learning how to create a broadcaster/listener using the ros tf package. essentially the purpose of the package is to automate the process of determining the current and past locations of the components of the robot as well as how they have changed relative to each other. to learn about TF is suggest going through the [http://www.ros.org/wiki/tf/Tutorials tf tutorial]. It explains how to use tf better than I could.
 </p>
 <h1>Other simulators to look at</h1>

← Older revision		Revision as of 20:37, 19 June 2012
Line 167:		Line 167:

	<h4> part 4: Installing stage in ros</h4>		<h4> part 4: Installing stage in ros</h4>
		+	<p>
		+	Installing stage in ros, as with most supported packages is essentially an effortless process. I learned how to properly do it from the [http://www.ros.org/wiki/stage/Tutorials/SimulatingOneRobot SimulatingOneRobot tutorial]. You can do this too, but will need to skip the parts for teleop base as the tutorial was written for the cturtle release of ros.
		+	</p>
		+	<br/>
		+	<p>
		+	basicly to make stage enter the following in a terminal:
		+	</p>
		+	<pre>
		+	rosmake stage
		+	</pre>
		+	<p>
		+	When that is finished you can run stage by doing the following:
		+	<pre>
		+	1st
		+	run roscore in a terminal
		+	2nd
		+	in a different terminal run the following:
		+	roscd stage
		+	./bin/stageros world/willow-erratic.world
		+	</pre>
		+	</p>

	<h4> part 5: Installing gazebo in ros</h4>		<h4> part 5: Installing gazebo in ros</h4>

@@ Line 479: / Line 479: @@
 for additional information on how to improve your urdf robot with xacro, i would suggest going through the [http://www.ros.org/wiki/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File ros xacro tutorial]
 <h1>ros TF</h1>
@@ Line 484: / Line 487: @@
 I spent two weeks learning how to create a broadcaster/listener using the ros tf package. essentially the purpose of the package is to automate the process of
 </p>
 <h1>Other simulators to look at</h1>
 <p>In this section I will talk briefly about three other simulators I was able to look at.</p>

@@ Line 480: / Line 480: @@
 for additional information on how to improve your urdf robot with xacro, i would suggest going through the [http://www.ros.org/wiki/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File ros xacro tutorial]
-<h2>ros TF</h2>
+<h1>ros TF</h1>
 <p>
 I spent two weeks learning how to create a broadcaster/listener using the ros tf package. essentially the purpose of the package is to automate the process of

@@ Line 80: / Line 80: @@
 Next you need to setup your sources.list. Open a terminal by pressing ctrl+alt+t. Copy this line into the terminal by pressing shift+ctrl+v:
 </p>
-<p>
+<pre>
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
-</p>
+</pre>
 <p>
 Now press enter to run the command.
@@ Line 91: / Line 91: @@
 </p>
-<p>
+<pre>
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-</p>
+</pre>
 <br/>
 <p>
 Now you need to run apt-get update to re-index the ros.org server. to do this paste and enter this into a terminal window:
 </p>
-<p>
+<pre>
 sudo apt-get update
-</p>
+</pre>
 <br/>
 <p>
@@ Line 109: / Line 109: @@
 Now we will do a full installation of ros. Before you start this step you should know that installing ros can take a while. Be prepared for a long wait. Paste the following command into the terminal window and then press enter:
 </p>
-<p>
+<pre>
 sudo apt-get install ros-fuerte-desktop-full
-</p>
+</pre>
 <p>
 Now that ros has been installed you need to set up its environment variables so that they will be added to each terminal automaticly. To do so enter the following into a terminal window:
 </p>
 <br/>
-<p>
+<pre>
 echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc
-</p>
+. ~/.bashrc
-<p>. ~/.bashrc
+</pre>
-</p>
 <br/>
 <p>The last step you need to take is to install some stand alone tools which are needed to use ros.
@@ Line 126: / Line 125: @@
 <br/>
-<p>
+<pre>
 sudo apt-get install python-setuptools python-pip
-</p>
+</pre>
 <p>
 after that has finished try running the following command line to install vcstolls and rosdep
 </p>
 <br/>
-<p>
+<pre>
 sudo pip install -U rosinstall vcstools rosdep
-</p>
+</pre>
 <p>
 If you ge the error "sudo: pip: command not found" try this instead:
 </p>
 <br/>
-<p>
+<pre>
 sudo easy_install -U rosinstall vcstools rosdep
-</p>
+</pre>
 <p>
+Resdep is a remarkable piece of software in that it installs all the dependancies for a package that are needed. This you will find as you use ubuntu more can be a great time saver in the long run since resolving missing dependencies can be very tedious.
 </p>
@@ Line 157: / Line 158: @@
 </p>
-<h4>After installing ros<h4>
+<h4>After installing ros</h4>
 <p>
 now that you have installed ros you should work through the [http://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironment ros tutorials]. These tutorials will help you set up your ros installation and will also teach you all the basic information about how ros itself works and how to use it.

@@ Line 357: / Line 357: @@
 </pre>
 </pre>
 <p>
-for additional information on the subject of how urdf defines a robot I suggest reading through the [http://www.ros.org/wiki/urdf/Tutorials/Create%20your%20own%20urdf%20file urdf tutorials]
+for additional information on the subject of how urdf defines a robot I suggest reading through the [http://www.ros.org/wiki/urdf/Tutorials/Create%20your%20own%20urdf%20file urdf tutorials]. Most of the information I have provided before this is derived partially from the tutorials before the cleaning up with xacro tutorial.
 </p>

@@ Line 272: / Line 272: @@
 <p> the first thing to define when creating a simple robot in urdf is the robot tag.</p>
+<pre>
 <robot name = "robTheRobot">
-<br/>
 </robot>
-<br/>
+</pre>
 <p>The name attribute defines what we will call the robot when loading it into rviz or a gazebo world</p>
@@ Line 285: / Line 286: @@
 </p>
-<br/>
+<pre>
-−
 <robot name = "robTheRobot">
 <link name ="base_link">
-<br/>
 </link>
 </robot>
 The next part we need to add is the part of the urdf which defines what the robot will look like, the visual tag. Within the visual tag we define the robots geometry with the geometry tag and within that tag you can define a shape such as a rectangle, sphere, or box.