Difference between revisions of "Software Setup Guide ROS Indigo"
From Pengatom Robotics Wiki
(→JStest gtk and joystick) |
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sudo apt-get install joystick | sudo apt-get install joystick | ||
− | Jstest-gtk is a front end to joystick's commandline tools. | + | Jstest-gtk is a front end to joystick's commandline tools.<br /> |
− | + | Changes in mapping or calibration can be done with command: | |
+ | sudo jscal-store /dev/input/jsX | ||
+ | Where 'X' is the input of joystick | ||
== ROS == | == ROS == |
Revision as of 22:15, 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:
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 input of joystick
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
$