This stack is being tested on Ubuntu 20.04 and ROS Noetic. Follow ROS install instruction tutorial for installing ROS full edition manually. Otherwise, use the ros_install.sh script for unattended installation
wget https://raw.githubusercontent.com/drmateo/plato_robot_doosan/master/ros_install.sh && chmod 755 ros_install.sh && ./ros_install.sh noetic
Download the plato_robot_doosan workspace
git clone --recurse-submodules https://github.com/drmateo/plato_robot_doosan.git plato_robot_ws
Install dependencies for dossan-robot stack
sudo apt-get install ros-noetic-rqt* ros-noetic-moveit* ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-ros-controllers ros-noetic-ros-control ros-noetic-joint-state-publisher-gui ros-noetic-joint-state-publisher
cd plato_robot_ws/src
rosdep install --from-paths doosan-robot --ignore-src --rosdistro noetic -r -y
Noetic distro does not support serial package, so you have to install it manually.
git clone https://github.com/wjwwood/serial.git
cd ~/plato_robot_ws
catkin_make
source ./devel/setup.bash
Set up the IP address of the host PC in static mode using the following LAN: 192.168.137.HOST_IP/24 gw 192.168.137.1
where the host PC address HOST_IP can be defined in the range [2, 254] avoiding 100 (reserved for the robot) and 52 (reserved for the robot desktop PC)
Example of usage:
roslaunch dsr_launcher dsr_moveit.launch mode:=real host:=192.168.137.100 port:=12345