Difference between revisions of "Alvaro-RV-HAPTICROS01"

Revision as of 12:08, 10 September 2013

• 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

• 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.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

Keys Configuration

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

We make sure that the server ROS.org is indexed.

sudo apt-get update

Install the library package and complete tools: ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.

sudo apt-get install ros-fuerte-desktop-full

Also you can install independently the libraries, tools and stacks.

Enviroment Configuration

For the enviroment variables are added each time you start the computer type this lines

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc

. ~/.bashrc

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

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

sudo apt-get install python-rosinstall python-rosdep

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

rosws init ~/fuerte_workspace /opt/ros/fuerte

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

sudo apt-get install python-rosinstall

• 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

mkdir ~/fuerte_workspace/sandbox

rosws set ~/fuerte_workspace/sandbox

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

source ~/fuerte_workspace/setup.bash

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

$ echo $ROS_PACKAGE_PATH

and we must obtain a output similar to this

/home/your_user_name/fuerte_workspace/sandbox:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks

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.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

Keys Configuration

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

We make sure that the server ROS.org is indexed.

sudo apt-get update

Install the library package and complete tools: ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.

sudo apt-get install ros-groovy-desktop-full

Also you can 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.

sudo rosdep init

rosdep update

Enviroment Configuration

For the enviroment variables are added each time you start the computer type this lines

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc

. ~/.bashrc

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

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

sudo apt-get install python-rosinstall

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

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

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

cd ~/catkin_ws/

catkin_make

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

source ~/catkin_ws/devel/setup.bash

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

Phantom Omni Package Installation on ROS Fuerte

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)

sudo dpkg -i phantomdevicedrivers_4.3-3_i386.deb

• 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.