Difference between revisions of "Software Setup Guide"
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== Joystick == | == Joystick == | ||
− | === Bluetooth & | + | === Bluetooth & PS4 dependencies: === |
− | + | Copied from [http://ros-developer.com/2017/12/14/ps4-controller-bluetooth-ubuntu/ ros-developer.com]: | |
+ | |||
− | + | PS4 controllers work out of the box in Ubuntu with USB cable but I was looking for a way to get it work via Bluetooth as well. After installing a couple of packages I found "ds4drv". | |
+ | To install it: | ||
+ | sudo pip install ds4drv | ||
+ | |||
+ | Then you have to either add the user to the list of root user or simply run it with sudo: | ||
+ | sudo ds4drv | ||
+ | |||
+ | Now hold ps button and share button on the controller and you should see the following in your terminal: | ||
+ | |||
+ | http://ros-developer.com/wp-content/uploads/2017/12/PS4_Controller_Pair_Mode.jpg | ||
+ | |||
+ | [sudo] password for [user]: | ||
+ | [info][controller 1] Created devices /dev/input/js0 (joystick) /dev/input/event16 (evdev) | ||
+ | [info][bluetooth] Scanning for devices | ||
+ | [info][bluetooth] Found device 1C:66:6D:9F:C4:B8 | ||
+ | [info][controller 1] Connected to Bluetooth Controller (1C:66:6D:9F:C4:B8) | ||
+ | [info][bluetooth] Scanning for devices | ||
+ | [info][controller 1] Battery: 87% | ||
+ | [warning][controller 1] Signal strength is low (25 reports/s) | ||
+ | |||
+ | To check the button and see if everything is okay jut install jstest-gtk | ||
+ | sudo apt-get install jstest-gtk | ||
=== JStest gtk and joystick === | === JStest gtk and joystick === |
Revision as of 11:53, 29 June 2020
Misc
$ sudo apt-get update
User Access
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>
ROS
Make sure to install dependencies with
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
and initialize them. All this is described in 1.6
I recommend going through a couple of Tutorials, at least to verify installation and configure your environment
Tips:
Use following command to set ROS hostname when using single machine setup:
export ROS_HOSTNAME=localhost
Install ROS on Arbotix-M
There is a great tutorial for this here!
Gazebo
Setup Gazebo with ROS
Move stuff up above this line if its needed
Core library & Project dependencies:
$ sudo apt-get install build-essential git libjpeg-dev gcc-multilib g++-multilib
Joystick
Bluetooth & PS4 dependencies:
Copied from ros-developer.com:
PS4 controllers work out of the box in Ubuntu with USB cable but I was looking for a way to get it work via Bluetooth as well. After installing a couple of packages I found "ds4drv".
To install it:
sudo pip install ds4drv
Then you have to either add the user to the list of root user or simply run it with sudo:
sudo ds4drv
Now hold ps button and share button on the controller and you should see the following in your terminal:
[sudo] password for [user]: [info][controller 1] Created devices /dev/input/js0 (joystick) /dev/input/event16 (evdev) [info][bluetooth] Scanning for devices [info][bluetooth] Found device 1C:66:6D:9F:C4:B8 [info][controller 1] Connected to Bluetooth Controller (1C:66:6D:9F:C4:B8) [info][bluetooth] Scanning for devices [info][controller 1] Battery: 87% [warning][controller 1] Signal strength is low (25 reports/s)
To check the button and see if everything is okay jut install jstest-gtk
sudo apt-get install jstest-gtk
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
git clone https://github.com/Pengatom/SimlePS4ServoMove.git cd SimlePS4ServoMove/c++/build/linux64/ make sudo make install cd .. cd .. cd example/protocol1.0/read_write/linux64/ ./read_write
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
$ sudo apt-get install
$ sudo apt-get install
$