Install

Preparing things (Native)

  1. Install ROS Melodic on Ubuntu 18.04 or Noetic on Ubuntu 20.04.

  2. This installation assumes that the ROS is already installed along with the 2D navigation stack. Otherwise, please install them before continuing to the next steps. For ROS Noetic, follow these:

  3. Install the requirements:

    sudo apt install python-pip python-catkin-tools python-is-python3

  4. Clone the git repository:

    git clone https://github.com/LAAS-HRI/CoHAN2.0.git -b master ~
cd ~/CoHAN2.0

  5. Install the dependencies using rosdep:

    rosdep install --from-paths src --ignore-src --rosdistro=noetic -y

  6. Follow the build instructions below.

Using Docker

  1. Clone the git repository:

    git clone https://github.com/LAAS-HRI/CoHAN2.0.git -b master ~
cd ~/CoHAN2.0

  2. Navigate to docker directory in the folder and build the image. For example:

    cd ~/CoHAN2.0/docker/noetic
./build-docker.sh

  3. Activate the image and do the steps for building. For example:

    source ~/CoHAN2.0/docker/noetic/run-docker.sh

Building Cohan and Running Examples

  1. Everything will be taken care of by the script. Just run compile.sh script:

    ./compile.sh

  2. Once it is built, you need to source setup.bash file to use these packages along with other ROS packages inside the system:

    source devel/setup.bash

  3. Now you are set to run use it. You can run some examples as:

    roslaunch cohan_sim_navigation cohan_sim_pr2.launch

    If everything is installed correctly, you should see rviz opening and you can move the robot by giving it a goal (using 2D Nav Goal tool).