mrshudson

Overview

This is a package for the mrs_hudson bot. This repository hosts the essential URDF and launch files for mrs_hudson bot, designed specifically for this fROSty winter.

Installation

Follow the instructions on the fROSty winter 2024 repository for the intital setup of with ros and gazebo.

Then for cloning the repo you need to have git installed on your system

apt-get install git

Then go to the erc_ws/src directory and open the terminal and run

git clone https://github.com/erciitb/mrs_hudson.git

Building

In the models and world folder, you will see the urdf and sdf files respectively. In both files, update the path of the meshes according to their locations in your system.

If you are using docker as per our instructions, You all will have the same directory address given by "file:///home/ubuntu/erc_ws/src/mrs_hudson/meshes/". So You don't need to change any path. To be safer, crosscheck the address of one of your stl files.

For those using any other way of running Linux or Any other folders as their workspace:

Use a simple find and replace, eg:

find = "file:///home/ubuntu/erc_ws/src/mrs_hudson/meshes/"

replace with respective addresses of base_link.stl, left_wheel.stl and right_wheel.stl in your system (Easy way to know: just go to the mrs_hudson folder you cloned, then meshes folder, copy the address of stl files). Make sure to not mess up with these, also do check if it was previously right_wheel.stl address then the new address which you are updating should be of right_wheel.stl and not any other stl file. else you get an error :)

Do these replacements in both urdf and sdf files, and crosscheck all when you are done. Then run colcon build in the workspace and follow the frosty content.