Mobile_Manipulator

This repository is created for build ROS mobile manipulator and for graduation project.

Starting Guide

You have to install ROS noetic on Ubuntu 20.04 LTS and Create catkin_ws before use this repository.

Step 1

Setup environment

$ sudo apt-get update

$ sudo apt-get upgrade

$ cd catkin_ws/src/

$ git clone http://github.com/luppyfox/Mobile_Manipulator

$ roscd;cd ..;catkin_make;rospack profile

Step 2

Install Sensor Package

$ cd catkin_ws/src/Mobile_Manipulator/sensor_pkg/

Lidar LDS-02

$ git clone https://github.com/ROBOTIS-GIT/ld08_driver.git

RPLidar A1

$ git clone https://github.com/Slamtec/rplidar_ros.git

laser_filters

$ sudo apt-get install ros-noetic-laser-filters

Astra Orbbec 3D

https://shop.orbbec3d.com/Astra

$ git clone https://github.com/orbbec/ros_astra_camera.git

$ sudo apt install ros-noetic-rgbd-launch libuvc-dev

Motor with encoder

Step 3

Update all package just installed

$ sudo apt-get update

$ sudo apt-get upgrade

$ roscd;cd ..;catkin_make;rospack profile

Step 4

$ roslaunch navigation full_launch.launch