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Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh's into the given robot
  • ssh-[robot_name]
    • ssh's into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client