match Mobile Robotics

📝 Table of Contents

• Overview
• Installation
• Usage
• External Documentation
• Problem Solving
• TODO

1. Repository overview

• general_hardware_helper: Contains scripts and packages that help when using the hardware robots
• general_sim_helper: Contains scripts and packages that help when using the simulation robots
• igus: Contains all scripts and packages for the usage of the Igus robot
• match_gazebo: Contains all worlds withs maps and launch files for the Gazebo simulation
• mir: Contains all information (description, examples and launch files) for the MiR platform
• miranda: Contains all information (description, examples and launch files) for the MiR platform with the Panda robot
• mur: Contains all information (description, examples and launch files) for the MiR platform with the UR5 robot
• net_box_hardware_helper: Contains all scripts and launch files for the driver of the NetBox hardware
• panda: Contains the original Panda repos and additional controllers, scripts and launch files
• scout_mini: Contains source and launch files for the Scout Mini plattform
• ur: Contains the original UR repos and additional controllers, scripts and launch files

2. Installation

Start by changeing directory to your catkin workspace!

Clone package

git clone https://github.com/ROSmatch/match_mobile_robotics.git

If you want to use the latest changes clone noetic-devel instead:

git clone --branch noetic-devel https://github.com/ROSmatch/match_mobile_robotics.git
# or if already cloned: git checkout noetic-devel

Build and Install

Browse into your_catkin_ws_name/src/Match_Mobile_Robotics and execute

./setup_full.sh

Alternatively run the setup step-by-step:

Install dependencies

Browse into your_catkin_ws_name/src/Match_Mobile_Robotics and execute

git submodule update --init --recursive
cd ../..
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

If the last rosdep install command is not working, please try the following:

rosdep install --from-paths src --ignore-src -r -y

Build packages

Use your standard build tools to build the downloaded packages e.g. :

catkin build

3. Usage

For examples on how to use this repository stick to the "mir_examples" package.

roslaunch mir_examples single_mir_100.launch

4. External doc :

Ur dashboard
UR Ros driver
UR Robot
Franka (Panda)

5. Problem Solving 🔧

AttributeError: module 'distutils' has no attribute 'core'

Arises at Build. Solved by installing other version of setup_tools:

  pip install setuptools==59.5.0

NLOPT

If nlopt has not been build, rebuild it by running the following in your catkin_ws:

  catkin clean
  cd src/match_mobile_robotics
  ./setup_full.sh