Tractobots Project

Field robots

Dependencies installation (ROS Kinetic)

ROS packages:

sudo apt-get install -y ros-$ROS_DISTRO-mapviz ros-$ROS_DISTRO-mapviz-plugins ros-$ROS_DISTRO-tile-map ros-$ROS_DISTRO-robot-localization

Docker:

sudo apt-key adv --keyserver hkp://p80.pool.sks-keyservers.net:80 --recv-keys 58118E89F3A912897C070ADBF76221572C52609D
sudo apt-add-repository 'deb https://apt.dockerproject.org/repo ubuntu-xenial main'
sudo apt-get update
sudo apt-get install -y docker-engine

ROS Offline Google Maps with MapViz (thanks to danielsnider):

mkdir ~/mapproxy
sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy

Optional: catkin_tools

Download repository and compile it:

git clone https://github.com/kylerlaird/tractobots.git
cd tractobots
catkin build
source devel/setup.bash

Usage

On different terminals run:

roslaunch tractobots_launchers bringup.launch
roslaunch tractobots_launchers mapviz.launch