##aero_srr_14
This repo maintains the a collection of ROS packages used for the 2014 SRR Challenge.
###Requirements
- Ubuntu 12.04
- ROS Hydro (http://wiki.ros.org/hydro/Installation/Ubuntu)
- ROS Control
- ROS Husky
- libsensors
- libcurses
You can install all dependancies (after initially installing ROS) by running the following:
sudo apt-get install ros-hydro-desktop-full ros-hydro-ros-control ros-hydro-ros-controllers ros-hydro-husky-desktop
sudo apt-get install ros-hydro-gazebo-ros-control ros-hydro-robot-state-publisher libsensors4-dev libncurses5-dev ros-hydro-prosilica-camera
###Installing GLEW install latest version of libglew
http://jasonjuang.blogspot.com/2013/10/adding-findglewcmake-to-cmake-in-ubuntu.html
###Installing aero_srr_14 source
All of the source code for the competition is stored in a number of repositories on github.
First you will need to install wstool to make it easier to clone all of the repositories.
sudo apt-get install python-wstool
Then clone all of the repositories into a new workspace
source /opt/ros/hydro/setup.bash
mkdir srr
cd srr
mkdir src
cd src
wstool init .
wstool merge http://users.wpi.edu/~mwills/aero_srr_14.rosinstall
wstool update
cd ..
catkin_make
You can also checkout all of the repositories using ssh by using the following url in the wstool merge command above. http://users.wpi.edu/~mwills/aero_srr_14_ssh.rosinstall
Add source ~/srr/devel/setup.bash to the end of your .bashrc file so that your package path is setup properly
###Running the Simulator To launch the aero robot in the gazebo simulator run the following command
roslaunch aero_bringup gazebo_aero.launch
To launch the teleop controller for the robot you can then run the following in a different terminal
roslaunch aero_bringup keyboard_teleop_aero.launch