This repository contains top-level ROS packages for the Building Wide Intelligence (BWI) project of the University of Texas at Austin Computer Science Department.
Packages contained in various released BWI repostories may depend on other packages at the same or lower levels. Dependencies on packages from higher-level repositories are not permitted.
From top to bottom, the released repositories are:
You can install all the BWI components normally built from source on either ROS Hydro or Indigo.
The Hydro version is now deprecated. It may work, but is no longer actively maintained.
First, install ROS Hydro, or Indigo.
Then, make sure the ROS_DISTRO environment variable is set correctly:
echo $ROS_DISTRO
It may already be. If not, issue the appropriate one of these two shell commands:
$ export ROS_DISTRO=hydro
or
$ export ROS_DISTRO=indigo
Next, clone the source repositories:
$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ wstool init src https://raw.githubusercontent.com/utexas-bwi/bwi/master/rosinstall/$ROS_DISTRO.rosinstall
Install all dependencies:
$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
Then, build everything:
$ catkin_make
$ source devel/setup.bash
To use this code on the Version 3 Segway Robot, one must also define some enviroment variables. The steps for doing this and the specific environment variables are described on the project wiki. Eventually, that should no longer be necessary.
You may install the latest binary release, when available, from the ROS package repository. These will not usually be the latest versions:
$ sudo apt-get install ros-$ROS_DISTRO-bwi-desktop-full