Software Setup Guide ROS Indigo

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Revision as of 09:38, 16 March 2017 by Falcon (talk | contribs) (Bluetooth & ps3_demo dependencies:)

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$ sudo apt-get update

General dependencies:

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


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 


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
cd SimlePS4ServoMove/c++/build/linux64/
sudo make install 
cd ..
cd ..
cd example/protocol1.0/read_write/linux64/


Install ROS

Install HR-OS5 ROS package from Interbotix.:


git clone ./src/hros5_misc/hros5_framework
cd src/hros5_misc/hros5_framework/Linux/build/

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