Installation Instructions

• Ensure you have a functional installation of ROS Melodic Morenia. (It is primarily targeted at the Ubuntu 18.04 (Bionic) release, though other Linux systems as well as Mac OS X, Android, and Windows are supported to varying degrees. For more information on compatibility on other platforms, please see REP 3: Target Platforms).

  Note

  Our software has been built and tested only on Ubuntu 18.04 using ROS Melodic.

  Refer these installation instructions for installing ROS Melodic on Ubuntu 18.04.

• In your home directory, make a folder called catkin_ws and an src folder within it. Do so by running the following command in a terminal [1].

  mkdir -p ~/catkin_ws/src
  

• Clone the following repositories into the src folder.

  • rooster_fleet_manager
  • multi_robot_sim
  • multi_ridgeback_gazebo
  • multi_ridgeback_nav
  • multi_husky_gazebo
  • multi_husky_nav

• Install the ROS packages developed by Clearpathpath Robotics for simulating their robots ‘Ridgeback’ and ‘Husky’ [2] .

  sudo apt install ros-melodic-ridgeback-simulator ros-melodic-ridgeback-desktop ros-melodic-ridgeback-navigation
  sudo apt install ros-melodic-husky-simulator ros-melodic-husky-desktop ros-melodic-husky-navigation
  

• Install python module PyQt4, required for rendering the GUI.

  sudo apt install python-qt4
  

• Build the cloned packages.

  cd ~/catkin_ws
  catkin_make
  

• Add the setup.bash file of catkin_ws to .bashrc and source it to set up the environmnet variables pertaining to this ROS workspace.

  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  source ~/.bashrc
  

• [Optional] Install the tools required to develop and generate this documentation.

  • Install rosdoc_lite ROS package using the following bash command[#]_ in a terminal.

    sudo apt-get install ros-melodic-rosdoc-lite
    

  • Install sphinx_rtd_theme, the sphinx extension use for this documentation.

    python2 -m pip install --user sphinx-rtd-theme
    

  • Install catkin-sphinx, a sphinx extension that provides a ROS theme for documentation.

    python2 -m pip install --user catkin-sphinx
    

Footnotes

[1]	Subsequent commands on this page, presented in the same looking highlighted boxes are to be run in the terminal as well.

[2]	To learn about using these packages and to play around with these robots in simulation, check out the tutorials by Clearpath Robotics for Ridgeback and Husky.

[3]	This command automatically installs doxygen, sphinx and epydoc as well.