Changes

The following procedure will help you install the Robot Operating System on I have tested this running Ubuntu 10.10 for as a VMware virtual machine as well as installed on a system as the booted OS. Ubuntu is a very easy to use with Linux release you can download from here Now lets get started! Open a terminal by clicking on '''Applications -> Accessories -> Terminal''' Enter the XVfollowing commands by copying and pasting them into the terminal window. Use '''CTRL-C''' to copy and then '''CTRL-SHIFT-11V''' to paste them in the terminal window.

I have tested this running Ubuntu 10# sudo sh -c ‘echo “deb http://code.10 as a VMware virtual machine as well as installed on a system as the booted OSros. Ubuntu is a very easy to use Linux release you can download from here Now lets get started! Open a terminal by clicking on Applications -org/packages/ros/ubuntu maverick main” > Accessories /etc/apt/sources.list.d/ros-> Terminal Enter the following commands by copying and pasting them into the terminal windowlatest.list’# wget http://code.ros.org/packages/ros. Use CTRLkey -C to copy and then CTRLO -SHIFT| sudo apt-V to paste them in the terminal window.key add -# sudo apt-get update# sudo apt-get install ros-cturtle-base

# cd; mkdir ros; cd ros# svn co https://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/teleop_twist_keyboard# svn co http://albany-ros-pkg.googlecode.com/svn/trunk/slam_coreslam/coreslam# svn co http://albany-ros-pkg.googlecode.com/svn/trunk/neato_robot# echo ‘. /opt/ros/cturtle/setup.sh’ >> ~/.bashrc# echo ‘export ROS_PACKAGE_PATH=~/ros:${ROS_PACKAGE_PATH}’ >> ~/.bashrc# source ~/.bashrc# sudo su# echo ‘. /opt/ros/cturtle/setup.sh’ >> ~/.bashrc# echo ‘export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}’ >> ~/.bashrc# exit# cd ~/ros/teleop_twist_keyboard; rosmake# cd ~/ros/coreslam; rosmake# cd ~/ros/neato_robot; rosmake 

# sudo su# echo “usbserial vendor=0x2108 product=0x780B” >> /etc/modules# echo “blacklist cdc_acm” >> /etc/modprobe.d/blacklist.conf# modprobe usbserial vendor=0x2108 product=0x780B# rmmod cdc_acm# exit Almost time to plug your XV-11 into the system!! For the sake of simplicity do not plug in any other USB to serial devices at this point. This will ensure your XV-11 appears as '''/dev/ttyUSB0 ''' and will simplify setup at this point. # ls /dev/ttyU* Once you plug in the XV-11 you should see '''/dev/ttyUSB0''' appear. Now lets load the XV-11 drivers. # roslaunch neato_node bringup.launch Entering the above command should initiate a connection to '''/dev/ttyUSB0''' and after a couple seconds you will hear the LIDAR start to spin on the XV-11. Don’t worry if you don’t hear it, press '''CTRL-C''' to exit the driver then enter the command again. I have found it does not seem to start properly upon first load. Now press '''CTRL-SHIFT-T''' while your terminal window is selected to open a new tab within that terminal window, just like a new web browser tab. We will open a few of these tabs to load the different ROS drivers/programs.

ls /dev/ttyU*# roslaunch 2dnav_neato move_base.launchOnce you plug in # (open a new tab before running the XV-11 you should see /dev/ttyUSB0 appear. Now lets load the XV-11 drivers.next command)# rosrun rviz rviz

roslaunch neato_node bringupJust to verify, you should have three tabs open now with these three commands simultaneously running.launchEntering SWEET HUH!! Now you have the above command should initiate GUI application running, just a connection couple more steps and its play time! On the top menu bar click '''Plugins -> Manage''' then click the box next to '''Loaded''' and click '''OK'''. There is a video [http:/dev/ttyUSB0 www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack here] with details on setting up RViz. You can use this file with RViz and after a couple seconds you will hear the LIDAR start to spin it has all those parameters already setup. Right click on the XV-11file and save it. Don’t worry if you don’t hear it, press CTRLWithin RViz just go to '''File -C to exit > Open Config''' and select the driver then enter the command againXV11. I have found it does not seem to start properly upon first loadvcg file. Now press CTRL-SHIFT-T while your terminal window is selected to open a new tab within that terminal window, just like a new web browser tab. We which we will open a few of these tabs use for keyboard control to load manually navigate the different ROS drivers/programsXV-11.

roslaunch 2dnav_neato move_base.launch(open a new tab before running the next command)# rosrun rviz rvizJust to verify, you should have three tabs open now with these three commands simultaneously running. SWEET HUH!! Now you have the GUI application running, just a couple more steps and its play time! On the top menu bar click Plugins -> Manage then click the box next to Loaded and click OK. There is a video here with details on setting up RViz. You can use this file with RViz and it has all those parameters already setup. Right click on the file and save it. Within RViz just go to File -> Open Config and select the XV11.vcg file. Now open a new terminal which we will use for keyboard control to manually navigate the XV-11teleop_twist_keyboard teleop_twist_keyboard.py

rosrun teleop_twist_keyboard teleop_twist_keyboard.pyYou will see which keys are used to navigate on the screen once the program is running. The default speed settings are too fast for the XV-11 so you need to reduce the speed before it will respond to any input. Repeatedly press the '''“x” ''' key to reduce speed when traveling in a straight line to about 0.10 and then do the same with the “c” key to reduce rotational speed to about 0.15. Now you can use the keyboard keys to navigate.