Difference between revisions of "Software Setup Guide ROS Indigo"
From Pengatom Robotics Wiki
m (Falcon moved page HR-OS5-clone software guide to Software Setup Guide) |
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| Line 1: | Line 1: | ||
| + | = Misc = | ||
$ sudo apt-get update | $ sudo apt-get update | ||
| − | + | == General dependencies: == | |
$ sudo apt-get install git build-essential g++ libjpeg-dev | $ 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 | $ sudo apt-get install bluez-utils bluez-compat bluez-hcidump libusb-dev libbluetooth-dev joystick | ||
[https://help.ubuntu.com/community/Sixaxis#Quick_Setup_Guide_for_12.10 Setup PS3 Joystick] | [https://help.ubuntu.com/community/Sixaxis#Quick_Setup_Guide_for_12.10 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.<br /> | ||
| + | You can install them using:<br /> | ||
| + | |||
| + | [code] | ||
| + | sudo apt-get install jstest-gtk | ||
| + | [/code] | ||
| + | or | ||
| + | [code] | ||
| + | sudo apt-get install joystick | ||
| + | [/code] | ||
| + | Jstest-gtk is a front end to joystick's commandline tools. | ||
| + | |||
| + | |||
| + | == ROS == | ||
[http://wiki.ros.org/indigo/installation/ubuntu Install ROS] | [http://wiki.ros.org/indigo/installation/ubuntu Install ROS] | ||
| − | + | === Install HR-OS5 ROS package from [https://github.com/Interbotix/ros_hros5/blob/master/README.md Interbotix.]: === | |
Dependencies: | Dependencies: | ||
| Line 20: | Line 39: | ||
make | make | ||
| − | ROS packages: | + | === ROS packages: === |
sudo apt-get install ros-indigo-joy | sudo apt-get install ros-indigo-joy | ||
sudo apt-get install python-rosinstall | sudo apt-get install python-rosinstall | ||
Revision as of 23:09, 21 February 2017
Contents
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
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:
[code] sudo apt-get install jstest-gtk [/code] or [code] sudo apt-get install joystick [/code] Jstest-gtk is a front end to joystick's commandline tools.
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
$
