<<PackageHeader(cirkit_unit03_apps)>>
<<TOC(4)>>

See [[Robots/CIR-KIT-Unit03]] for instructions and tutorials.

== About ==
Installation and application packages for [[Robots/CIR-KIT-Unit03|CIR-KIT-Unit03]].

== Installation ==
The following commands grab all required packages for [[Robots/CIR-KIT-Unit03|CIR-KIT-Unit03]] navigation with [[rosdep]] and [[wstool]], and then execute `catkin_make` and `catkin_make run_tests`.

=== Clone this repository. ===
{{{
$ cd <catkin_ws>/src
$ git clone https://github.com/CIR-KIT-Unit03/cirkit_unit03_apps.git
}}}

=== Run install script. ===
{{{
cd <catkin_ws>/src/cirkit_unit03_apps
sh install.sh
}}}

 * optional arguments:
  * -h: show the help message and exit
  * -i: eneble `rosdep init`
  * -t: enable `catkin_make run_tests`
  * -r: remove existing `src/.rosinstall`

== Applications ==
 * cirkit_unit03_autorun
   * runs whole packages for autonomous driving, such as the navigation related ([[move_base]], [[amcl]]), the sensor control related ([[https://github.com/iralabdisco/ira_laser_tools|ira_laser_tools]], filtered via [[laser_filters]]) and the simulation related ([[http://gazebosim.org/|Gazebo]]) with utility nodes ([[timed_roslaunch]]) also for stable execution of system. 
   * All of them are launched from packages with prefix `cirkit_unit03`, whose parameters are already set up in each package.

== Configuration ==
=== Basical packages for CIR-KIT-Unit03 ===
Cloned via cirkit_unit03_pkgs.rosinstall

 * [[cirkit_unit03_common]]
   * [[cirkit_unit03_control]]
   * [[cirkit_unit03_description]]
 * [[cirkit_unit03_navigation]]
   * [[cirkit_unit03_amcl]]
   * [[cirkit_unit03_gmapping]]
   * [[cirkit_unit03_maps]]
   * [[cirkit_unit03_move_base]]
 * [[cirkit_unit03_robot]]
   * [[cirkit_unit03_base]]
   * [[cirkit_unit03_bringup]]
 * [[cirkit_unit03_simulator]]
   * [[cirkit_unit03_gazebo]]

=== Dependent packages for CIR-KIT-Unit03 ===
Cloned via cirkit_unit03_apps.rosinstall

 * [[https://github.com/AriYu/ira_laser_tools/tree/fix-eigen3cmake|ira_laser_tools]]
 * [[lower_step_detector]]
 * [[steer_drive_ros]]
   * [[steer_bot_hardware_gazebo]]
   * [[steer_drive_controller]]
   * [[stepback_and_steerturn_recovery]]

=== Directory configuration after Installation ===

{{{
<catkin_ws>
│
└ src
   │ 
   ├ cirkit_unit03_apps 
   │   │
   │   ├ cirkit_unit03_apps (Metapackage)
   │   │
   │   ├ cirkit_unit03_autorun
   │   │
   │   ├ human_detector (Cloned via cirkit_unit03_apps.rosinstall)
   │   │
   │   └ timed_roslaunch (Cloned via cirkit_unit03_apps.rosinstall)
   │
   ├ cirkit_unit03_deps (Just a directory, not a metapacage)
   │   |
   |   ├ ira_laser_tools (Cloned via cirkit_unit03_pkgs.rosinstall)
   │   |
   |   ├ lower_step_detector (Cloned via cirkit_unit03_pkgs.rosinstall)
   │   |
   │   └ steer_drive_ros (Cloned via cirkit_unit03_pkgs.rosinstall)
   │
   └ cirkit_unit03_pkgs
       |
       ├ cirkit_unit03_pkgs (Metapackage)
       |
       ├ cirkit_unit03_common (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       ├ cirkit_unit03_navigation (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       ├ cirkit_unit03_robot (Cloned via cirkit_unit03_pkgs.rosinstall)
       |
       └ cirkit_unit03_simulator (Cloned via cirkit_unit03_pkgs.rosinstall)
}}}

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