Step 2 : Setup the Bot

This section shall provide the instructions to setup the stack on the chosen Bot.

Setup for Simulation

There are 3 steps to setup the chosen bot for simulation purposes

Step 1 : Cloning the chosen bot in the mowito_ws (the one you setup during installation)

For ROSBot, run the following command

cd ~/mowito_ws/src/ && git clone https://github.com/mowito/mowito_rosbot.git cd ~/mowito_ws/src/ && git clone https://github.com/mowito/mw_mprims.git

For TurtleBot, run the following command

cd ~/mowito_ws/src/ && git clone https://github.com/mowito/mowito_turtlebot.git

For Husky, run the following command

cd ~/mowito_ws/src/ && git clone https://github.com/mowito/mowito_husky.git

Note

To use velodyne and slam toolbox with husky, switch to the branch velodyne_with_husky

cd ~/mowito_ws/src/mowito_husky && git checkout velodyne_with_husky

For JackalBot, run the following command

cd ~/mowito_ws/src/ && git clone https://github.com/mowito/mowito_jackal.git

Step 2 : Install the dependencies

cd ~/mowito_ws/ && rosdep install --from-paths src --ignore-src -r -y

Step 3 : Build the workspace

catkin_make

Step 4 : FOR TURTLEBOT ONLY

Run the following commands

source <path_to_mowito_ws>/devel/setup.bash

export TURTLEBOT3_MODEL=waffle_pi