Getting started

Our robots, AMIGO and SERGIO run using ROS. We run ROS on top of Ubuntu Linux.

1. To get started, install your laptop with Ubuntu 16.04 64-bit
2. Once that is done, you can install ROS Kinetic on your Ubuntu system.
3. If this is your first time using ROS, its good to try out some of the tutorials on ROS.
4. If you are comfortable with ROS, then it's time to install our software. For that we have a big script:

source <(wget -O- https://raw.githubusercontent.com/tue-robotics/tue-env/master/installer/scripts/bootstrap-ros-kinetic)
tue-get install tue-dev
source ~/.bashrc

This script installs everything you need, from various tools like git and terminator to most of our ROS packages.

(If you get an error "/ros/kinetic/dev/devel/setup.bash not found" then run catkin_make manually in "/ros/kinetic/system" and "~/ros/kinetic/dev")

Update and build:

tue-get update
tue-make

Once everything is installed, you should be able to simulate our robot and environment. To do so, run the following commands each in a separate terminal (terminator is very handy for this, you can split the windows with ctrl + shift + O and ctrl + shift + E or via right-clicks)

roscore
amigo-start
amigo-free-mode
amigo-rviz
amigo-console # and type amigo.<tab>
robot-console # and type amigo <tab>

in the RViz windows, you can see the robot and give it pose estimates and navigation goals.

Or, to start a predefined RoboCup@Home challenge:

roscore
amigo-start
amigo-challenge-<tab>
amigo-rviz

There are various challenges, such as "Storing groceries", "Help-me-carry" and a bunch more. Implementations and README-files are at tue_robocup