Getting a Rover to Rove, Part 2
This is part 2 in my journey to simulate a rover.
Of course getting the Husky robot to spawn in the Gazebo simulator is no quick task; the Husky robot does not yet support ROS Kinetic, so you have to build the ROS packages for it from source. To do this, we need to set up our first workspace. Running:
Fails with another fun error:
The manifest must not contain the following tags: depend, build_export_depend, buildtool_export_depend
Turns out Conda has some really old stuff in it, and so these tools need installing via pip instead of Conda.
conda install setuptools
pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
Alright, now we have a workspace. Time to clone some Husky.
Now we move all those directories into the src directory, and run catkin_make again. Oh no, another error. Missing something called ‘em’. Ok, easy, just pip install em. But no! Another landmine. After installing em, we find that ‘em’ doesn’t have ‘Interpeter’. Why is this? Because you need empy, not em. Joy.
pip uninstall em
pip install empy
[100%] Built target husky_node
Hooray! Husky kinetic packages built.
Now we source our new workspace:
And launch Husky.
roslaunch husky_gazebo husky_empty_world.launch
Nope, another big fat error.
That’s enough errors for this hour.