Getting started

Install Ubuntu

The repository and its related components have been tested under the following Ubuntu distributions:

ROS Kinetic: Ubuntu 16.04
ROS Melodic: Ubuntu 18.04
ROS Noetic: Ubuntu 20.04

If you do not have a Ubuntu distribution on your computer you can download it here.

Git - Version Control

Install Git Software

Install the Git core components and some additional GUI’s for the version control:
```
sudo apt-get install git-core gitg gitk
```
Set Up Git

Now it’s time to configure your settings. To do this you need to open a new Terminal. First you need to tell git your name, so that it can properly label the commits you make:
```
git config --global user.name "Your Name Here"
```
Git also saves your email address into the commits you make.
```
git config --global user.email "your-email@youremail.com"
```
GIT Tutorial If you have never worked with git before, we recommend to go through the basic git tutorial.

Docker (Recommended)

To be able to use our software independent of the operating system and/or ROS distribution, it is recommended to use docker. You can follow this tutorial to use docker.

ROS - Robot Operating System

Install ROS

The repository has been tested successfully with the following ROS distributions. Use the link behind a ROS distribution to get to the particular ROS Kinetic installation instructions.

Note

Do not forget to update your .bashrc!
ROS Tutorials

If you have never worked with ROS before, we recommend to go through the beginner tutorials provided by ROS.

In order to understand at least the different core components of ROS, you have to start from tutorial 1 (“Installing and Configuring Your ROS Environment”) till tutorial 7 (“Understanding ROS Services and Parameters”).

Setup catkin workspace

Create a catkin workspace

source /opt/ros/noetic/setup.bash
mkdir -p ~/noetic/src; cd ~/noetic/src
catkin_init_workspace
catkin build

Clone and compile the MAS industrial robotics software

First of all you have to clone the repository.
```
cd ~/noetic/src;
git clone git@github.com:b-it-bots/mas_industrial_robotics.git
```
Then go on with installing further external dependencies:
```
cd ~/noetic/src/mas_industrial_robotics
./repository.debs
source ~/noetic/devel/setup.bash
```
The last command should be added to the ~/.bashrc file so that they do not need to be executed everytime you open a new terminal.

And finally compile the repository:
```
cd ~/noetic
catkin build
```
If no errors appear everything is ready to use. Great job!
Setting the Environment Variables
- ROBOT variable
  
  With the ROBOT variable you can choose which hardware configuration should be loaded when starting the robot. The following line will add the variable to your .bashrc:
```
echo "export ROBOT=youbot-brsu-1" >> ~/.bashrc
source ~/.bashrc
```
- ROBOT_ENV Variable
  
  The ROBOT_ENV variable can be used to switch between different environments. The following line will add the variable to your .bashrc:
  - Real robot
```
echo "export ROBOT_ENV=brsu-c025" >> ~/.bashrc
source ~/.bashrc
```
  - Simulation
```
echo "export ROBOT_ENV=brsu-c025-sim" >> ~/.bashrc
source ~/.bashrc
```

Bring up the robot and its basic components

In Simulation
```
roslaunch mir_bringup_sim robot.launch
```
In a new terminal you can open the Gazebo GUI to see the environment and the robot
```
rosrun gazebo_ros gzclient
```
At the Real Robot
```
roslaunch mir_bringup robot.launch
```

Test the base

roslaunch mir_teleop teleop_keyboard.launch

Visualize the robot state and sensor data
```
rosrun rviz rviz
```
Build a map for base navigation
```
roslaunch mir_2dslam 2dslam.launch
```
Use autonomous navigation
- Omni-directional navigation
```
roslaunch mir_2dnav 2dnav.launch nav_mode:=dwa
```

Click on the menu bar “File -> Open Config”, navigate to “~/noetic/src/mas_industrial_robotics” and select the “youbot.rviz” file.