Robotnik Guardian - ROS and Gazebo packages

===============

Installation of the guardian-ros-pkg (https://github.com/inesc-tec-robotics/guardian-ros-pkg) and its dependencies:

SETUP:

1. Please install (if not already installed)

 * ROS Hydro: 
    http://wiki.ros.org/hydro/Installation/Ubuntu
 * Gazebo 1.9: 
    http://gazebosim.org/tutorials?tut=install&ver=1.9

1.1 test gazebo:

 gzserver

wait until you see a msg: "Msg Publicized address: nnn.nnn.nnn.nnn"

and in another terminal run:

 gzclient

2. The tutorial assumes you have your workspace named "catkin_ws"

If not, create the workspace:

 Follow these instructions:  http://wiki.ros.org/catkin/Tutorials/create_a_workspace

3. Download the guardian-ros-pkg into the src folder:

cd ~/catkin_ws/src/
git clone https://github.com/inesc-tec-robotics/guardian-ros-pkg

4. Before compiling it install these dependencies:

 sudo apt-get install ros-hydro-pr2-common ros-hydro-joy ros-hydro-joystick-drivers ros-hydro-ros-control ros-hydro-ros-controllers ros-hydro-controller-manager ros-hydro-gazebo-ros-control ros-hydro-gazebo-plugins ros-hydro-hector-gazebo-plugins

5. compile the package

cd ~/catkin_ws/     
catkin_make

===============

Running the simulation:

Guardian in empty world:

roslaunch guardian_gazebo guardian.launch

Guardian inside ship:

roslaunch guardian_gazebo guardian_ship_interior.launch

When launching these, it is also launched the joystick and keyboard nodes to control the robot

To use the keyboard you have to be in the window from which you lanched the simulation

• keyboard: wasd/WASD keys

To use a joystick you need a configuration file

• joystick: config files @ guardian_joystick/launch/

      if needed create yout own and alter the line 
        <rosparam command="load" file="$(find guardian_joystick)/launch/logitech.yaml" />
      to
        <rosparam command="load" file="$(find guardian_joystick)/launch/MyOwnConfig.yaml" />