Bayesian Robotics Team1

##Installation Installation of the required ROS dependencies is automated via the install.sh file. Navigate to bayes_team1 and execute

sudo sh install.sh

This should install the required dependencies that are not present (below)

• gazebo2
• jackal_desktop
• jackal_simulator
• libopencv-nonfree-dev

Note that OpenCV may already be installed on a fresh install of Ubuntu, and trying to reinstall can prove to be surprisingly problematic. See if the scripts will run before trying to install openCV

##World Launch and Control To launch the jackal in Gazebo and the corresponding rviz control and visualization, first, perform a catkin_make in the bayes_team1/catkin_ws directory.

user@user:~/bayes_team1/catkin_ws$ catkin_make
user@user:~/bayes_team1/catkin_ws$ source ./devel/setup.bash

Launch using the mbzirc_task2 launch file. This file will first transfer several models into the ~./gazebo folder, and then initialize the world in Gazebo, spawning the jackal_mbzirc model, and adding control through rviz

user@user:~/bayes_team1/catkin_ws$ roslaunch mbzirc_task2 mbzirc_task2_sim.launch