Repository containing the rosinstall file with the structure of the whole software. This one particularly for the ropod.
Installation of dependencies:
- Install ROS kinetic (follow instructions)
sudo apt install ros-kinetic-sbpl libsuitesparse-dev ros-kinetic-libg2o./progress_installer
Keep in mind that the robot should have access to all the repositories, meaning that probably you need to add a ssh_key to the repositories server.
Though is indicated as a dependency, you might need to manually install the costmap-converter module:
sudo apt-get install ros-kinetic-costmap-converter
The branch of ropod-common should be changed to develop branch if catkin build fails.
If catkin build fails because it can't find ZyreBaseCommunicator, execute the install instructions of ropod_common.
Once the software is compiled at the robot, give access of raw ethercat data to the low-level-control executable. For instance:
sudo setcap 'CAP_NET_RAW+ep CAP_SYS_NICE+eip' /home/ropod/ropod-project-software/catkin_workspace/devel/lib/ropod_4wheel_tdistkinb_cntr/ropod_4wheel_tdistkinb_cntr_node