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ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING

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ceres_robot repository

ceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util

ROS Distro
github

Repository Summary

Description ceres robot ros driver and tools
Checkout URI https://github.com/uos/ceres_robot.git
VCS Type git
VCS Version master
Last Updated 2025-05-19
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ceres_bringup 1.0.0
ceres_description 2.0.0
ceres_gazebo 2.0.0
ceres_localization 2.0.0
ceres_navigation 2.0.0
ceres_robot 1.0.0
ceres_util 2.0.0

README

Ceres

ceres_robot

Maintainers

Installation

1. Install wstool

sudo apt install python-wstool
mkdir -p ~/ceres_ws

2. Use wstool to pull all required packages

wstool init src https://raw.githubusercontent.com/uos/uos_rosinstalls/master/ceres-kinetic.rosinstall
wstool update -t src

3. Pico Flexx Royale Libary

  • download the royale SDK libroyale.zip from the manufacturers website with the costumer password provided in the pico flexx casing
  • Extract the linux 64 bit archive from the extracted SDK to ceres_ws/src/pico_flexx_driver/royale

4. Update UDEV Rules

Install the udev rules for the pico_flexx

cd ~/ceres_ws/src/pico_flexx_driver/royale
sudo cp libroyale-<version_number>-LINUX-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Install the udev rules for the sick tim

sudo cp ~/ceres_ws/src/sick_tim/udev/81-sick-tim3xx.rules /etc/udev/rules.d

Install the udev rules for the phidgets driver

sudo cp ~/ceres_ws/src/phidgets_drivers/phidgets_api/share/udev/99-phidgets.rules /etc/udev/rules.d

Ceres Simulation

Use gazebo with Ceres: roslaunch ceres_gazebo ceres.launch

Ceres Util

We provide a script for an easy remote connection setup in ceres_util/ceres.rc. Make sure it is sourced in ~/.bashrc

You need to have dig installed for all functionality, install it with sudo apt-get install dnsutils

The script contains the following functions:

  • ceres-host
    • exports the ROS_MASTER_URI
  • ceres-client [robot_name]
    • sets your ROS to be a client on computers that have an RZ ID
  • ceres-client-ip [robot_name]
    • sets your ROS to be a client on computers that do not have an RZ ID
  • ceres-ssh [robot_name]
    • ssh’s into the given robot
  • ssh-[robot_name]
    • ssh’s into the given robot
  • cmux
    • starts a basic tmux session for ceres

Remote Connection

  • Example Host:
    • flamara
  • Example Client:
    • your personal laptop
  1. ceres-host on the host machine (in this case on flamara)
  2. start the launch file roslaunch ceres_bringup ceres.launch
  3. ceres-client-ip flamara on your personal laptop
  4. start rviz on the client

CONTRIBUTING