Packages for working with Mayfield's Kuri robot.

Build this repo's packages in your workspace. You should be set to communicate with the robot. Check out the helpers in kuri_launch/env_hooks (accessible in any shell that has the workspace sourced).

You may find our docs on configuring the robot helpful.

Check out each individual package for tips. Start with kuri_launch.

Note that many of these packages are stubs just to provide message types for communicating with the robot. You'll need to remove or ignore these packages when building on the robot to ensure that the full versions of these packages (which include important nodes) can be found while launching. On our Kuri's, we added empty CATKIN_IGNORE files to the following directories: mayfield_msgs, mobile_base_driver, madmux, kuri_gazebo, vision_msgs, may_nav_msgs, audio_msgs, kuri_web_teleop.

There is a known bug where the the Kuri has an unnecessary and incomplete madmux library in the /opt/ros/indigo folder (the correct one is in /opt/gizmo). To prevent ROS from linking to the wrong madmux library, move or delete all remnants of madmux from the /opt/ros/indigo folder before compiling the code. (If you have already compiled the code, you may have to clean your workspace before re-compiling). Specifically, run the following commands (these will delete the files -- if you would rather move the files for backup, modify the commands appropriately):

sudo rm -r /opt/ros/indigo/include/madmux

sudo rm /opt/ros/indigo/lib/libmadmux.so

sudo rm /opt/ros/indigo/lib/libmadmux.so.0

sudo rm /opt/ros/indigo/lib/libmadmux.so.0.2.0

sudo rm -r /opt/ros/indigo/share/madmux