Difference between revisions of "Software Setup Guide"

From Pengatom Robotics Wiki
Jump to: navigation, search
(JStest gtk and joystick)
(ROS)
Line 28: Line 28:
 
  sudo jscal-store /dev/input/jsX
 
  sudo jscal-store /dev/input/jsX
 
Where 'X' is the joystick input
 
Where 'X' is the joystick input
 +
 +
== Simple PS4 Servo Move ==
 +
  
 
== ROS ==
 
== ROS ==

Revision as of 08:43, 24 February 2017

Misc

$ sudo apt-get update

General dependencies:

$ sudo apt-get install git build-essential g++ libjpeg-dev

Joystick

Bluetooth & ps3_demo dependencies:

$ sudo apt-get install bluez-utils bluez-compat bluez-hcidump libusb-dev libbluetooth-dev joystick

Setup PS3 Joystick

JStest gtk and joystick

These are two tools included in the Ubuntu repositories. The first of the two, jstest-gtk, is a graphical tool, and joystick is a set of commandline utilities.
You can install them using:

sudo apt-get install jstest-gtk 

or

sudo apt-get install joystick

Jstest-gtk is a front end to joystick's commandline tools.
Changes in mapping or calibration can be done with command:

sudo jscal-store /dev/input/jsX

Where 'X' is the joystick input

Simple PS4 Servo Move

ROS

Install ROS

Install HR-OS5 ROS package from Interbotix.:

Dependencies:

git clone https://github.com/Interbotix/HROS5-Framework ./src/hros5_misc/hros5_framework
cd src/hros5_misc/hros5_framework/Linux/build/
make

ROS packages:

sudo apt-get install ros-indigo-joy
sudo apt-get install python-rosinstall
sudo apt-get install ros-indigo-robot-localization
sudo apt-get install ros-indigo-rtabmap-ros
sudo apt-get install ros-indigo-rtabmap
sudo apt-get install ros-indigo-joint-trajectory-controller
sudo apt-get install ros-indigo-effort-controllers ros-indigo-joint-state-controller ros-indigo-joint-state-publisher ros-indigo-controller-manager ros-indigo-imu-sensor-controller ros-indigo-position-controllers 

Grant local user real-time access to the Arbotix Pro:

echo "ulimit -r 31" >> ~/.bashrc
sudo su
echo "<username> soft rtprio 31" >> /etc/security/limits.conf
echo "<username> hard rtprio 31" >> /etc/security/limits.conf
sudo usermod -a -G dialout <username>

$ sudo apt-get install

$ sudo apt-get install

$