Requirements

• v4l2 (v4l-utils)

• ROS melodic

• ROS packages:

  • http://wiki.ros.org/arbotix
  • http://wiki.ros.org/dynamixel_motor
  • http://wiki.ros.org/phantomx_reactor_arm

• python 2.7

  • cv2
  • numpy

Preparations / Building

• use terminal commands from the repository's base directory catkin_ws
• build catkin workspace if needed

Execution

1. open Terminal CTRL + ALT + T

2. (recommended) open a new Tab for each step using CTRL + SHIFT + T or the "right-click-context-menu"

3. (recommended) execute $ roscore. This ensures we don't accidentally kill it when it's attached to a launch.

4. launch modules:

   • (not recommended) launch everything together: $ roslaunch control_dual_robot all_at_once.launch
   • (recommended) launch each module separately (again in new tab each):
     • $ roslaunch control_dual_robot robot_0.launch
     • $ roslaunch control_dual_robot robot_1.launch
     • $ conda activate masterprojekt && roslaunch twophase_solver_ros solver.launch
     • $ conda activate masterprojekt && roslaunch control_dual_robot control.launch

5. select action from the dropdown and click on send goal