Vendbot

Playing with a few ideas with ROS.

Setting up the app in development

1. Install ROS Indigo Desktop Full Install and setup workspace (run the first few tutorials for a full setup; and add the ~/catkin_ws/devel/setup.bash to your ~/.bashrc): http://wiki.ros.org/indigo/Installation/Ubuntu
2. Install the Arduino IDE (https://www.arduino.cc/en/Main/Software), start the IDE, set the Sketchbook Location to ~catkin_ws/src/vendbot/arduino in Preferences, and restart the IDE.
3. Setup the UDEV rules so Ubuntu can access the Arduino and reboot: sudo cp udev_rules/*.rules /etc/udev/rules.d/; sudo gpasswd -a whoami dialout; sudo reboot
4. Install the needed ros components for Vendbot: sudo apt-get install ros-indigo-camera-calibration ros-indigo-rtabmap-ros ros-indigo-stereo-image-proc ros-indigo-usb-cam ros-indigo-rosserial-arduino ros-indigo-rosserial-python ros-indigo-rosbridge-suite ros-indigo-urdf ros-indigo-xacro
5. Source the bash devel setup: ~/catkin_ws/devel/setup.bash
6. Clone the vendbot repo into the catkin workspace source directory: cd ~/catkin_ws/src; git clone git@github.com:toddsampson/vendbot.git
7. Do a catkin build on Vendbot: cd ~/catkin_ws; catkin_make
8. Source the bash devel setup one more time: ~/catkin_ws/devel/setup.bash
9. Run the launch file: roslaunch vendbot mobile_base.launch
10. If you want to set a port other than /dev/ttyACM0 for the mobile_base, add mobile_base_port:=/dev/ttyYOURs to the launch command above.