-
Notifications
You must be signed in to change notification settings - Fork 0
Installation
Note that a docker is available for usage with all the installation in place. It is preferable to use the docker, as it will avoid all configuration issues. Here you find ROS-TiPlEx on Docker
To install ROS-TiPlEx first of all you need a working version of ROS. This project has been developed on OS Ubuntu 14-04 LTS, on ROS Indigo Igloo. I suggest to use same ROS distro, and if possible same OS. Installation of Indigo is here. Besides ROS and the OS, I used catkin tools to build packages. Using the old version of the building system coul work as well, but it is preferable to use the new building system, as it is more efficient and has more feature if compared to the ld one. Furthermore, to use ROS-RiPlEx you will need to install some packages in your ROS distro, that will enable some feautures.
This package will act as a layer between ROS-TiPlEx and the GUI for the configuration. In few words, this package will translate ROS messages in JSON object and will send them using http protocol to the dedicated client. These messages will be used to configure all the part of planning, giving the chance to an user to configure the planning domain, without knowing anything about the real implementation of the planner. In other section the GUI and a use case will be presented, in order to let you use the software. To install rosbridge_server you can follow the instruction in the ros.org
This is the database in which ROS-TiPlEx will save all the configurations. All data will be inserted thanks to the GUI and then, they will be used by the executor to create the domain and connect to your robot. Again all this part is transparent to the user, that just has to use the GUI and has no worries about handling all the passage of messages and difference of configurations. To install mongodb_store you can follow instruction in official site.
NOTE Running the database could be tricky, because some conflict could occur. I suggest to follow instruction and give rights on the folder in wich you will put the db. I had some issue with this part but after adding rights the issue was solved. The command to add right is the following:
sudo chown -R *your username* /opt/ros/mongodb_store (change to whatever folder you've set as db dir)
After you download the package of ROS-TiPlEx, you can build using catkin tool (or the previous version). After thee building and after all prerequisites are satisfied, you can run the demo using the launch file provided. This topic will be covered in the use case section.
I suggest you to install rosbridge_server and mongodb_store, and try them using the demos on their websites. Running them alone could be useful in discovering bugs or other, as you will have a more precise point of view about how they work and you can also discover possible errors in the installation of these two packages, before you run them with ROS-TiPlEx