pushr_desktop_setup.md

title	author	date
MuSHR Desktop Setup Guide - Fluent Robotics Lab	Jeeho Ahn	Jan. 2024

PuSHR Setup Guide - Fluent Robotics Lab

The original PuSHR repository is developed for Ubuntu 18.04 with Python 2, and it will not work out of the box. This guide provides modification to upgrade the original PuSHR system to work on Ubuntu 20.04 with Python 3.

Original PuSHR Git Repo

Prerequisite

This guide assumes a MuSHR system installed as described in Fluent Robotics Lab MuSHR Desktop Setup Guide.

The modified PuSHR repository

For simplicity, we will use a modified repository fitted for our use instead of the original PuSHR repository. Make sure you have an access to this repo.

Modified PuSHR Repository

cd ~/catkin_ws/src
git clone https://github.com/fluentrobotics/PuSHR-Noetic
cd ~/catkin_ws && catkin_make

Modify robot kinematic constraint

sed -i '/servo_min:/c\  servo_min: 0.0' $(rospack find mushr_sim)/config/vesc.yaml
sed -i '/servo_max:/c\  servo_max: 1.0' $(rospack find mushr_sim)/config/vesc.yaml

Running PuSHR Simulation

Run the following commands in order.

roscore
roslaunch mushr_coordination mushr_coordination.launch cars_file:=4cars.yaml
roslaunch clcbs_ros clcbs_ros.launch
roslaunch mushr_pixelart_mpc multi_sim.launch
rviz -d $(rospack find clcbs_ros)/rviz/clcbs.rviz
roslaunch clcbs_ros init_clcbs.launch benchmark_file:=ex3.yaml map_server:=0

You should now see the robots moving on RViz.