OP3 Robot Operating System

Overview

This chapter explains installation and configuration of Robot Operating System(ROS) for ROBOTIS-OP3. Also, common ROS Packages and developed ROS Packages will be introduced.

What is ROS?

How to install ROS

version : Kinetic

Installation(Desktop-Full)

Reference : ROS Installation - WIKI

For Linux Mint user

If you want to install ROS in Linux mint, you should type

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'

instead of

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

in the step of Setup your sources.list

SetUp

ROS Environment Setting

Reference : http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

ROS Network Setup

Reference : ROS Network Setup

Example Setting

Open the bash file with an editor to apply configuration.
```
$ xed ~/.bashrc
```
Append below contents at the end of the .bashrc file.
```
# Set ROS Kinetic
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash

#### Set ROS Network ####
# ROS Master(localhost)
export ROS_MASTER_URI=http://10.41.0.1:11311

# local ROS IP
export ROS_IP=10.41.0.1
```
Reference : In order to operate ROS in a network with multiple PCs, addresses of the ROS_MASTER_URI and the ROS_IP have to be replaced with the core PC’s IP address and the remote PC’s IP address respectively.
Reference : If Hotspot is configured, use “10.42.0.1”. Otherwise, use “localhost” instead of IP address.
- ROS_MASTER_URI=http://localhost:11311
- ROS_IP=localhost
Use below command to apply modified configuration or open a new terminal window to reload configuration.
```
$ source ~/.bashrc
```

ROBOTIS ROS Packages for ROBOTIS-OP3

DYNAMIXEL SDK : SDK for DYNAMIXEL
ROBOTIS-Framerowk : The packages to use ROS (Robot Operating System) for robots assembled with ROBOTIS products.
ROBOTIS-Framerowk-msgs : Messages used in the ROBOTIS-Framework.
ROBOTIS-Math : Basic calculation related to transformation and trajectory functions.
ROBOTIS-OP3 : ROS Packages running in the ROBOTIS-OP3.
ROBOTIS-OP3-Common
ROBOTIS-OP3-Demo
ROBOTIS-OP3-msgs
ROBOTIS-OP3-Tools
ROBOTIS-Utility

Additional ROS Package

face_detection
- This ROS Package detects faces.
- Link : https://github.com/ROBOTIS-GIT/face_detection
- Message
  - Name : FaceCoord
  - Type : std_msgs/Int32MultiArray
  - Data : [fps, faces num, image width, image height, face id, tracking count, x, y, face_width, face_height, …]
robot_upstart
- This ROS Package is used to automatically execute ROS on startup.
- Link : http://wiki.ros.org/robot_upstart
- How to setup auto start
usb_cam
- USB Camera
- Link : http://wiki.ros.org/usb_cam
- Additional Installation : The following package must be manually installed in order to modify camera parameters.
```
$ sudo apt install v4l-utils
```