cherbini/usma_gvrbot

ROS Packages to control the GVR-Bot

usma_gvrbot

1. Instructions for installing TARDEC proprietary ROS packages

2. Instructions for connecting a Linux computer to the GVR-Bot

3. Troubleshooting options

4. Gazebo simulation

Dependency list:

• sudo apt-get install -y ros-melodic-velodyne ros-melodic-velodyne-description ros-melodic-velodyne-teleop-twist-joy ros-melodic-jackal-description ros-melodic-realsense2-camera ros-melodic-realsense2-description

E-Stop Check:

In the back of the GVR-Bot chassis is a red and black wire with a connector on it. These are the leads for the e-stop. The e-stop is likely for the motors, but the GVR-Bot Status spreadsheet is where you can look to confirm that. Look for your GVR-Bot's ID, and check the "e-stop" entry. These leads need to be shorted for the robot to work correctly; if there is not already a jump cable bridging the leads, you will need to install one. There is not a ready supply, so this is something you will have to build yourself; if you are unable to find the correct connector housing, you can use two crimp pins of the appropriate gender and size, and a roughly two inch length 16 AWG solid core wire. Form the wire into a loop, and put heatshrink around the loop and the pins to emulate the connector case.

OLD - Dependency list: TODO add these to package

• teleop_twist_joy
• ros-kinetic-astra-camera
• ros-kinetic-astra-launch