View source for Alvaro-RV-HAPTICROS01

* '''Project name:''' Turtlebot robot indoor navigation

* '''Dates:''' July 2013 - 

* '''Degree:''' Summer Research Residence

* '''Authors:''' Álvaro 

* '''Contact:''' jferna08@estudiantes.unileon.es

* '''SVN Repositories:''' 

* '''Tags:''' ROS, Haptics

* '''Technologies:''' ROS, Phantom Omni

* '''State:''' Ongoing

----

==ROS Fuerte Installation on Ubuntu 12.04==
===Sources.list Configuration===
For the computer accept packages.ros.org must enter in the terminal the next line.
<syntaxhighlight lang=Bash>sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'</syntaxhighlight>

===Keys Configuration===
<syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - | sudo apt-key add -</syntaxhighlight>

===Installation===
We make sure that the server ROS.org is indexed.
<syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>

Install the library package and complete tools: ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.
<syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>

Also you can [http://ros.org/wiki/fuerte/Installation/Ubuntu#Installation-1/ install independently] the libraries, tools and stacks.

===Enviroment Configuration===
For the enviroment variables are added each time you start the computer type this lines
<syntaxhighlight lang=Bash>echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc</syntaxhighlight>
<syntaxhighlight lang=Bash>. ~/.bashrc</syntaxhighlight>

We can check if  we have added typing ''gedit ~/.bashrc'' and looking at end of file

[[File:Bashrc.png|500px|thumb|center|bashrc file]]

'''IMPORTANT!!!''' If there is more than one ROS distribution installed in the file ~/.bashrc must only contain the version you're using

===Independent Tools===
Rosinstall and rosdep are used often in the terminal, but they are distributed individually. Rosinstall allows you to download source code trees for packages and ROS stacks. Rosdep allows easy installation of the system dependencies for the source code to be compiled. 

For install those tools, you write in the terminal the next line
<syntaxhighlight lang=Bash>sudo apt-get install python-rosinstall python-rosdep</syntaxhighlight>

===Create a ROS Workspace===
* '''Create a new workspace'''
With the next command we go to create a workspace in ~/fuerte_workspace which inherits the set of installed packages in /opt/ros/fuerte

<syntaxhighlight lang=Bash>rosws init ~/fuerte_workspace /opt/ros/fuerte</syntaxhighlight>

'''NOTE: ''' rosw is a type of rosintall package which doesn't install default. if we haven't  installed rosintall in the last steps, we must do with the next command

<syntaxhighlight lang=Bash>sudo apt-get install python-rosinstall</syntaxhighlight>

* '''Create a sandbox directory for the new packages'''
When we create a new package we always must put it in a directory that is in the enviroment variable ROS_PACKAGE_PATH. All the directories that are added with rosw is added automatically to this variable. For this. we create a sandbox directory to which we will add the hide file .rosinstall with rosw

We create the sandbox directory in our workspace created before and we add to the workspace

<syntaxhighlight lang=Bash>mkdir ~/fuerte_workspace/sandbox</syntaxhighlight>
<syntaxhighlight lang=Bash>rosws set ~/fuerte_workspace/sandbox</syntaxhighlight>

Each time that the entries of workspace change it, is necessary to do a re-source

<syntaxhighlight lang=Bash>source ~/fuerte_workspace/setup.bash</syntaxhighlight>

Also, it is advisable to add the last line to the file ~/.bashrc just after the line to which already added at the beginning of installation for haven't execute each time we starts our computer.

To confirm that our path has been modified we can execute the next line

<syntaxhighlight lang=Bash>$ echo $ROS_PACKAGE_PATH</syntaxhighlight>

and we must obtain a output similar to this

<syntaxhighlight lang=Bash>/home/your_user_name/fuerte_workspace/sandbox:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks</syntaxhighlight>

==ROS Groovy Installation on Ubuntu 12.04==
===Sources.list Configuration===
For the computer accept packages.ros.org must enter in the terminal the next line.
<syntaxhighlight lang=Bash>sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'</syntaxhighlight>

===Keys Configuration===
<syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - | sudo apt-key add -</syntaxhighlight>

===Installation===
We make sure that the server ROS.org is indexed.
<syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>

Install the library package and complete tools: ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.
<syntaxhighlight lang=Bash>sudo apt-get install ros-groovy-desktop-full</syntaxhighlight>

Also you can [http://wiki.ros.org/groovy/Installation/Ubuntu#Installation-1/ install independently] the libraries, tools and stacks.

===Rosdep Initialization===
Before of to use ROS we must initialize rosdep which allows us easily to install the  source system dependencies that we want to compile and also is necessary for execute some basic components of ROS.

<syntaxhighlight lang=Bash>sudo rosdep init</syntaxhighlight>
<syntaxhighlight lang=Bash>rosdep update</syntaxhighlight>

===Enviroment Configuration===
For the enviroment variables are added each time you start the computer type this lines
<syntaxhighlight lang=Bash>echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc</syntaxhighlight>
<syntaxhighlight lang=Bash>. ~/.bashrc</syntaxhighlight>

We can check if  we have added typing ''gedit ~/.bashrc'' and looking at end of file

[[File:Bashrc groovy.png|500px|thumb|center|bashrc file]]

'''IMPORTANT!!!''' If there is more than one ROS distribution installed in the file ~/.bashrc must only contain the version you're using

===Independent Tools===
Rosinstall is used often in the terminal, but it is distributed individually. Rosinstall allows you to download source code trees for packages and ROS stacks. For install this tool, you write in the terminal the next line

<syntaxhighlight lang=Bash>sudo apt-get install python-rosinstall</syntaxhighlight>

===Create a ROS Workspace ===
* '''Create a new workspace'''

With the next command we go to create a workspace in ~/catkin_ws which inherits the set of installed packages in /opt/ros/groovy

<syntaxhighlight lang=Bash>mkdir -p ~/catkin_ws/src</syntaxhighlight>
<syntaxhighlight lang=Bash>cd ~/catkin_ws/src</syntaxhighlight>
<syntaxhighlight lang=Bash>catkin_init_workspace</syntaxhighlight>

Initially our workspace is empty, only have a CmakeList.txt in the src directory. For make the workspace execute

<syntaxhighlight lang=Bash>cd ~/catkin_ws/</syntaxhighlight>
<syntaxhighlight lang=Bash>catkin_make</syntaxhighlight>

Finally, we configure the enviroment variabble to take into consideration our new workspace, for this execute

<syntaxhighlight lang=Bash>source ~/catkin_ws/devel/setup.bash</syntaxhighlight>

For to do this change continuous we can add the previous line to end of file ''~/.bashrc''

==Phantom Omni Package Installation on ROS Fuerte ==
===Requirements===

Phantom Omni Device
OpenHaptics SDK, you can download [http://dsc.sensable.com/ here]. Go to Software Downloads in Linux Drivers section and download the version 3.0

===PDD Installation and Configuration (Phantom Device Drivers)===
* '''Installation'''

For install the drivers we go to directory OpenHapticsAE_Linux_v3_0/OpenHaptics-AE 3.0/32-bit from terminal and execute the next command (if our computer warns us that alien isn't installed we can install it with '''sudo apt-get install alien''')

<syntaxhighlight lang=Bash>sudo dpkg -i phantomdevicedrivers_4.3-3_i386.deb</syntaxhighlight>

* '''Phantom Haptic Device Interface Installation by IEEE1394 Fireware port'''

In this point is where we would to load raw1394 module in the kernel. Due to the change of the old driver stack (video1394, raw1394, etc) for the new driver stack (firewire.core, firewire-ohci). From the Ubuntu vesion 11.04, we will download the new beta drivers adapted to the new drivers stack.

We can donwnload it from [http://dsc.sensable.com/forum/topic.asp?TOPIC_ID=1283 forums of Sensable]

Once downloaded we must to copy the file included in the package "libPHANToMIO.so.4.3" into /usr/lib directory and overwrite the old file.

<syntaxhighlight lang=Bash>sudo cp libPHANToMIO.so.4.3 /usr/lib</syntaxhighlight>

Create symbol links to the previous library with the libraries called libPHANToMIO.so and  libPHANToMIO.so.4 into /usr/lib directory

<syntaxhighlight lang=Bash>sudo ln -s  libPHANToMIO.so.4.3  libPHANToMIO.so</syntaxhighlight> 
<syntaxhighlight lang=Bash>sudo ln -s  libPHANToMIO.so.4.3  libPHANToMIO.so.4</syntaxhighlight>
(if you can't overwrite old files, delete them previously)

Copy the new configuration application ''PHANToMConfiguration'' which is adapted to the new firewire drivers into /usr/sbin directory.

<syntaxhighlight lang=Bash>sudo cp PHANToMConfiguration /usr/sbin</syntaxhighlight>

Install freeglut and several libraries which are necessary with the next commands

<syntaxhighlight lang=Bash>sudo apt-get install freeglut3-dev</syntaxhighlight>
<syntaxhighlight lang=Bash>sudo apt-get install  x11proto-gl-dev</syntaxhighlight>
<syntaxhighlight lang=Bash>sudo apt-get install libmotif-dev</syntaxhighlight>
<syntaxhighlight lang=Bash>sudo apt-get install mesa-utils</syntaxhighlight>

Download the libGLw libraries with the motif links already compiled from [http://dsc.sensable.com/forum/topic.asp?TOPIC_ID=1241 here] and copy the files that contains into /usr/lib directory with the command
<syntaxhighlight lang=Bash>sudo cp libGLw* /usr/lib</syntaxhighlight>

Create a symbol link into /usr/lib/i386-linux-gnu/ directory to the libraw1394.so.11 library (the directory can change depends of your linux version, for to look for where is located you can use the command ''locate libraw1394''). This is necessary because the drivers requires libraw.so.8 to which already is obsolete.

<syntaxhighlight lang=Bash>sudo ln -s libraw1394.so.11 libraw1394.so.8</syntaxhighlight>

If when we use the PHANToMTest or other application of OpenHaptics only we can execute as root or the haptic can't initialize we must give permissions to port /dev/fw* , for this we must follow the instructions of paragraph Permissions and ownership for /dev/fw* in this [https://ieee1394.wiki.kernel.org/index.php/Juju_Migration#Permissions_and_ownership_for_.2Fdev.2Ffw.2A link]

one way to assign permissions fast (although each time that restart our computer the permissions are restored) is the next command

<syntaxhighlight lang=Bash>sudo chmod 777 /dev/fw*</syntaxhighlight>

* '''PHANToM Configuration'''

For to use any haptic application we must specify the model which we are using, for this, initialize the PHANToMConfiguration, it's important initialize with the flag LANG=en_us because if our system language is different to english and, we initialize without flag later the haptic doesn't work correctly

<syntaxhighlight lang=Bash>LANG=en_us /usr/sbin/PHANToMConfiguration </syntaxhighlight>

The options must be as in the capture 

[[File:PHANToMConfiguration.png|500px|thumb|center|PHANToMConfiguration Application]]

'''IMPORTANT:''' If not shows the serial number, must change the fireware wire to the other port and push in the default button. 

Finally, push apply and later in OK. Now,must to calibrate and test if the haptic works, for this, execute

<syntaxhighlight lang=Bash>LANG=en_us /usr/sbin/PHANToMTest</syntaxhighlight>

In the Select section we choose the configuration which we have made in PHANToMConfiguration

[[File:PHANToMTest select.png|500px|thumb|center|PHANToMTest Application]]

Push next until Read encoders and test that the stylus buttons work correctly, for this, push the buttons and see the status change between ON and OFF.

[[File:PHANToMTest_ReadEncoders.png|500px|thumb|center|PHANToMTest Application]]

Push next until Box Test and test that the haptic can't take out the ball of the box

[[File:PHANToMTest_BoxTest.png|500px|thumb|center|PHANToMTest Application]]
PHANToMTest_BoxTest

Finally, push next for finish 

===OpenHaptics Toolkit Installation===

Go to OpenHapticsAE_Linux_v3_0/OpenHaptics-AE 3.0/32-bit directory and execute

<syntaxhighlight lang=Bash>sudo dpkg -i openhaptics-ae_3.0-2_i386.deb</syntaxhighlight>

Now, install the library libncurses5-dev 

<syntaxhighlight lang=Bash>sudo apt-get install libncurses5-dev</syntaxhighlight>

Finally, must change etc/enviroment adding next line at end of the file

<syntaxhighlight lang=Bash>3DTOUCH_BASE=/usr/share/3DTouch</syntaxhighlight>

===Sensable Phantom Package Installation===

Make a clone of the repository in your sandbox directory using the rosbuild branch  from repository

<syntaxhighlight lang=Bash>git clone -b rosbuild https://github.com/bgromov/sensable_phantom.git</syntaxhighlight>

Later to clone, execute

<syntaxhighlight lang=Bash>rospack profile</syntaxhighlight>

Go to sensable_phantom directory which you download in your sandbox directory and compile it. Before to compile a new package make sure that you have made ''rospack profile''

<syntaxhighlight lang=Bash>roscd sensable_phantom</syntaxhighlight>
<syntaxhighlight lang=Bash>rosmake sensable_phantom</syntaxhighlight>

If you have problems because you can't do rosmake by errno13 denegation permissions, look this [http://www.ros.org/wiki/groovy/Installation/OSX/Homebrew/Source site]

==Phantom Omni Package Installation on ROS Groovy==

===Requirements===

Phantom Omni Device
OpenHaptics SDK, you can download [http://dsc.sensable.com/ here]. Go to Software Downloads in Linux Drivers section and download the version 3.0

===PDD Installation and Configuration (Phantom Device Drivers)===
* '''Installation'''

For install the drivers we go to directory OpenHapticsAE_Linux_v3_0/OpenHaptics-AE 3.0/32-bit from terminal and execute the next command (if our computer warns us that alien isn't installed we can install it with '''sudo apt-get install alien''')

<syntaxhighlight lang=Bash>sudo dpkg -i phantomdevicedrivers_4.3-3_i386.deb</syntaxhighlight>

* '''Phantom Haptic Device Interface Installation by IEEE1394 Fireware port'''

In this point is where we would to load raw1394 module in the kernel. Due to the change of the old driver stack (video1394, raw1394, etc) for the new driver stack (firewire.core, firewire-ohci). From the Ubuntu vesion 11.04, we will download the new beta drivers adapted to the new drivers stack.

We can donwnload it from [http://dsc.sensable.com/forum/topic.asp?TOPIC_ID=1283 forums of Sensable]

Once downloaded we must to copy the file included in the package "libPHANToMIO.so.4.3" into /usr/lib directory and overwrite the old file.

<syntaxhighlight lang=Bash>sudo cp libPHANToMIO.so.4.3 /usr/lib</syntaxhighlight>

Create symbol links to the previous library with the libraries called libPHANToMIO.so and  libPHANToMIO.so.4 into /usr/lib directory

<syntaxhighlight lang=Bash>sudo ln -s  libPHANToMIO.so.4.3  libPHANToMIO.so</syntaxhighlight> 
<syntaxhighlight lang=Bash>sudo ln -s  libPHANToMIO.so.4.3  libPHANToMIO.so.4</syntaxhighlight>
(if you can't overwrite old files, delete them previously)

Copy the new configuration application ''PHANToMConfiguration'' which is adapted to the new firewire drivers into /usr/sbin directory.

<syntaxhighlight lang=Bash>sudo cp PHANToMConfiguration /usr/sbin</syntaxhighlight>

Install freeglut and several libraries which are necessary with the next commands

<syntaxhighlight lang=Bash>sudo apt-get install freeglut3-dev</syntaxhighlight>
<syntaxhighlight lang=Bash>sudo apt-get install  x11proto-gl-dev</syntaxhighlight>
<syntaxhighlight lang=Bash>sudo apt-get install libmotif-dev</syntaxhighlight>
<syntaxhighlight lang=Bash>sudo apt-get install mesa-utils</syntaxhighlight>

Download the libGLw libraries with the motif links already compiled from [http://dsc.sensable.com/forum/topic.asp?TOPIC_ID=1241 here] and copy the files that contains into /usr/lib directory with the command
<syntaxhighlight lang=Bash>sudo cp libGLw* /usr/lib</syntaxhighlight>

Create a symbol link into /usr/lib/i386-linux-gnu/ directory to the libraw1394.so.11 library (the directory can change depends of your linux version, for to look for where is located you can use the command ''locate libraw1394''). This is necessary because the drivers requires libraw.so.8 to which already is obsolete.

<syntaxhighlight lang=Bash>sudo ln -s libraw1394.so.11 libraw1394.so.8</syntaxhighlight>

If when we use the PHANToMTest or other application of OpenHaptics only we can execute as root or the haptic can't initialize we must give permissions to port /dev/fw* , for this we must follow the instructions of paragraph Permissions and ownership for /dev/fw* in this [https://ieee1394.wiki.kernel.org/index.php/Juju_Migration#Permissions_and_ownership_for_.2Fdev.2Ffw.2A link]

one way to assign permissions fast (although each time that restart our computer the permissions are restored) is the next command

<syntaxhighlight lang=Bash>sudo chmod 777 /dev/fw*</syntaxhighlight>

* '''PHANToM Configuration'''

For to use any haptic application we must specify the model which we are using, for this, initialize the PHANToMConfiguration, it's important initialize with the flag LANG=en_us because if our system language is different to english and, we initialize without flag later the haptic doesn't work correctly

<syntaxhighlight lang=Bash>LANG=en_us /usr/sbin/PHANToMConfiguration </syntaxhighlight>

The options must be as in the capture 

[[File:PHANToMConfiguration.png|500px|thumb|center|PHANToMConfiguration Application]]

'''IMPORTANT:''' If not shows the serial number, must change the fireware wire to the other port and push in the default button. 

Finally, push apply and later in OK. Now,must to calibrate and test if the haptic works, for this, execute

<syntaxhighlight lang=Bash>LANG=en_us /usr/sbin/PHANToMTest</syntaxhighlight>

In the Select section we choose the configuration which we have made in PHANToMConfiguration

[[File:PHANToMTest select.png|500px|thumb|center|PHANToMTest Application]]

Push next until Read encoders and test that the stylus buttons work correctly, for this, push the buttons and see the status change between ON and OFF.

[[File:PHANToMTest_ReadEncoders.png|500px|thumb|center|PHANToMTest Application]]

Push next until Box Test and test that the haptic can't take out the ball of the box

[[File:PHANToMTest_BoxTest.png|500px|thumb|center|PHANToMTest Application]]
PHANToMTest_BoxTest

Finally, push next for finish

===OpenHaptics Toolkit Installation===

Go to OpenHapticsAE_Linux_v3_0/OpenHaptics-AE 3.0/32-bit directory and execute

<syntaxhighlight lang=Bash>sudo dpkg -i openhaptics-ae_3.0-2_i386.deb</syntaxhighlight>

Now, install the library libncurses5-dev 

<syntaxhighlight lang=Bash>sudo apt-get install libncurses5-dev</syntaxhighlight>

Finally, must change etc/enviroment adding next line at end of the file

<syntaxhighlight lang=Bash>3DTOUCH_BASE=/usr/share/3DTouch</syntaxhighlight>

===Phantom Omni Package Installation===

Make a clone of the repositories in your src directory of your workspace

<syntaxhighlight lang=Bash>cd ~/catkin_ws/src</syntaxhighlight>
<syntaxhighlight lang=Bash>git clone https://github.com/danepowell/omni_description</syntaxhighlight>
<syntaxhighlight lang=Bash>git clone https://github.com/danepowell/phantom_omni</syntaxhighlight>

Later, execute

<syntaxhighlight lang=Bash>rospack profile</syntaxhighlight>

Go to root directory of your workspace and compile it executing

<syntaxhighlight lang=Bash>cd ~/catkin_ws</syntaxhighlight>
<syntaxhighlight lang=Bash>catkin_make</syntaxhighlight>