ROSARIA Tutoial
How to use ROSARIA
# References
- [How to use ROSARIA](http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA)
## Environment
- Ubuntu 18 (ROS melodic) (others are also okay)
## Install aria2
```sh
sudo apt install aria2 libaria-dev
```
## Install ROSARIA
```sh
cd ~/catkin_ws/src
git clone https://github.com/amor-ros-pkg/rosaria.git
cd ../
catkin_make
```
## Run rosaria Node
```sh
roscore
rosrun rosaria RosAria _port:=/dev/ttyUSB0
```
# Topics and commands
Check pose:
```sh
rostopic echo /RosAria/pose
```
Velocity Commands:
```sh
rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.1, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
```
# Problems
### Lack of aria lib
Description:
```sh
/home/yubao/data/catkin_ws/src/rosaria/LaserPublisher.cpp:5:12: fatal error: Aria/Aria.h: No such file or directory
#include
^~~~~~~~~~~~~
compilation terminated.
rosaria/CMakeFiles/RosAria.dir/build.make:86: recipe for target 'rosaria/CMakeFiles/RosAria.dir/LaserPublisher.cpp.o' failed
make[2]: *** [rosaria/CMakeFiles/RosAria.dir/LaserPublisher.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 92%] Built target octomap_saver
/home/yubao/data/catkin_ws/src/rosaria/RosAria.cpp:6:12: fatal error: Aria/Aria.h: No such file or directory
#include
^~~~~~~~~~~~~
compilation terminated.
rosaria/CMakeFiles/RosAria.dir/build.make:62: recipe for target 'rosaria/CMakeFiles/RosAria.dir/RosAria.cpp.o' failed
make[2]: *** [rosaria/CMakeFiles/RosAria.dir/RosAria.cpp.o] Error 1
[ 94%] Built target octomap_server_multilayer
[ 95%] Built target octomap_color_server_node
CMakeFiles/Makefile2:6453: recipe for target 'rosaria/CMakeFiles/RosAria.dir/all' failed
make[1]: *** [rosaria/CMakeFiles/RosAria.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 96%] Built target octomap_server_node
[ 98%] Built target octomap_tracking_server_node
[100%] Built target octomap_server_nodelet
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
```
Solution:
```sh
sudo apt install libaria-dev
```
### RosAria
```sh
➜ catkin_ws rosrun rosaria RosAria
[ INFO] [1615276005.476249398]: RosAria: set port: [/dev/ttyUSB0]
Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0.
ArSerialConnection::open: Could not open serial port '/dev/ttyUSB0' | ErrorFromOSNum: 13 ErrorFromOSString: Permission denied
Could not connect, because open on the device connection failed.
Failed to connect to robot.
[ERROR] [1615276005.482337730]: RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)
[FATAL] [1615276005.482401203]: RosAria: ROS node setup failed...
```
Solution:
```sh
sudo chmod 777 /dev/ttyUSB0
```
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