Difference between revisions of "Software Setup Guide ROS Indigo"

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Line 13: Line 13:
 
[http://wiki.ros.org/indigo/installation/ubuntu  Install ROS]
 
[http://wiki.ros.org/indigo/installation/ubuntu  Install ROS]
  
'''Install HR-OS5 ROS [https://github.com/Interbotix/ros_hros5/blob/master/README.md package]'''
+
'''Install HR-OS5 ROS package from [https://github.com/Interbotix/ros_hros5/blob/master/README.md 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
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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
  
Error in setup here, need both soft and hard limit to be allowed to change limit:
 
 
Grant local user real-time access to the Arbotix Pro:
 
Grant local user real-time access to the Arbotix Pro:
 
 
  echo "ulimit -r 31" >> ~/.bashrc
 
  echo "ulimit -r 31" >> ~/.bashrc
 
  sudo su
 
  sudo su

Revision as of 18:56, 27 October 2016

$ sudo apt-get update

General dependencies:

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

Bluetooth & ps3_demo dependencies:

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

Setup PS3 Joystick

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

$