MPHY0054_lab

Collection of packages for lab sessions in MPHY0054 Robotic Systems Engineering.

Lab Manuals

The markdown (.md) versions of the .pdf lab manuals available on moodle are located in the lab_manuals folder.

Ubuntu 20.04 and ROS 1 Noetic Setup

A pdf describing setup instructions for Ubuntu 20.04 and ROS noetic can be found on moodle.

Note: This course is designed using ROS 1 noetic (a.k.a. ROS noetic) in a Ubuntu 20.04 environment. Newer releases of Ubuntu (e.g. Ubuntu 22.04 or Ubuntu 23.04) are NOT compatible with ROS 1. Attempting coursework using ROS 2 distributions will result in compatability issues.

Ubuntu 20.04 releases available for download at: https://releases.ubuntu.com/focal/

If you do not have Ubuntu 20.04 as your default OS, it is recommended that you set up Ubuntu 20.04 in a virtual environment. Instructions for setting up Ubuntu 20.04 are available on moodle.

In a Ubuntu 20.04 environment, install ROS noetic by following the installation instructions available at: http://wiki.ros.org/noetic/Installation/Ubuntu

MPHY0054_lab Dependencies

Once ROS noetic is installed, run the following code in a Ubuntu command terminal:

sudo apt install ros-noetic-controller-manager ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-gazebo-ros-control ros-noetic-joint-trajectory-controller ros-noetic-velocity-controllers ros-noetic-ros-controllers ros-noetic-ros-control

References:

• youbot_description: 'https://github.com/youbot'
• manipulator_h_description: 'https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATOR-H'
• open_manipulator_description: 'https://github.com/ROBOTIS-GIT/open_manipulator'

Debugging

This section provides comprehensive information on debugging your workspace, addressing any issues that may have arisen during the lab, and reviewing reported errors and problems.

Issue 1: "usr/bin/env: ‘python3\r’: No such file or directory"

Problem: You encounter the error message /usr/bin/env: ‘python3\r’: No such file or directory.

Solution: To resolve this issue, follow these steps:

1. Open your terminal.

2. Run the following command to install the dos2unix utility:

   sudo apt install dos2unix

More info on the issue can be found here.