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# Add key of ros repo | |
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 | |
# Add ros repo | |
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
# Install ros | |
sudo apt update | |
sudo apt install -y ros-kinetic-desktop-full | |
apt search ros-kinetic | |
# install ros dependency | |
sudo rosdep init | |
rosdep update | |
## OPTIONAL: Auto source ROS | |
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc && source ~/.bashrc | |
## OPTIONAL: Install python packages for ros | |
sudo apt install -y python-rosinstall python-rosinstall-generator python-wstool build-essential | |
# Create workspace | |
. /opt/ros/kinetic/setup.bash | |
mkdir -p catkin_ws/src | |
cd catkin_ws/src | |
catkin_init_workspace | |
cd .. | |
catkin_make | |
# Install RosAria | |
cd ~/ | |
mkdir tmp | |
cd tmp | |
git clone https://github.com/reedhedges/AriaCoda | |
cd AriaCoda/src/ | |
make | |
sudo make install | |
# Install ROS packages | |
sudo apt-get install -y ros-kinetic-teleop-twist-keyboard && sudo apt-get install -y ros-kinetic-joy | |
# Install Teleop-Joy package | |
cd ~/catkin_ws/src | |
git clone https://github.com/ros-teleop/teleop_twist_joy | |
cd .. | |
catkin_make | |
# Connect and test joystick | |
sudo jstest /dev/input/js0 | |
# Move joystick | |
#### RUN EVERYTHING | |
# Terminal window 1: Roscore | |
roscore | |
# Terminal window 2: RosAria | |
cd ~/catkin_ws && . devel/setup.bash | |
sudo chmod a+rw /dev/ttyUSB0 | |
rosrun rosaria RosAria | |
# Terminal window 3: Joystick | |
cd ~/catkin_ws_. | |
. devel/setup.bash | |
rosrun joy joy_node _autorepeat_rate:=10 | |
# Terminal window 4: Joystick to RosAria connection | |
cd ~/catkin_ws | |
. devel/setup.bash | |
rosparam set joy_node/dev "dev/input/js0" | |
rosrun teleop_twist_joy teleop_node cmd_vel:=RosAria/cmd_vel _scale_linear:=0.2 _scale_angular:=0.5 _axis_linear:=5 _axis_angular:=4 | |
## OPTIONAL: Terminal window 5: Check graph | |
rqt_graph | |
####### Kinect | |
rosrun kinect2_bridge kinect2_bridge _reg_method:=cpu |
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