ROS_Setup

ROS for kairproject setup

Environment

• ubuntu 16.04 xenial
• python2.7
• ROS kinetic

ROS uses python2.7, but python2 is supported until 1.Jan.2020. ROS2 is released and uses python3, but not stable yet. We will refactor code using ROS2 and python3 when our mid project is finished.

Installation

• sudo apt-get update
• sudo apt-get upgrade
• sudo apt-get install git wget
• sudo apt-get install vim
# or your favortie editor.

Install ROS

• sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
• sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
• sudo apt-get update
• sudo apt-get upgrade
• sudo apt-get install ros-kinetic-desktop-full ros-kinetic-rqt-*
• sudo rosdep init
• rosdep update
• sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
• sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-orocos-*
• sudo rm -rf /var/lib/apt/lists/*

ROS setting

• mkdir -p catkin_ws/src
• cd catkin_ws
• sudo echo "source /opt/ros/kinetic/setup.bash" >> $HOME/.bashrc
• sudo echo "export PYTHONPATH=/opt/ros/kinetic}/lib/python2.7/dist-packages" >> $HOME/.bashrc
• sudo echo "source $CATKIN_WS/devel/setup.bash" >> $HOME/.bashrc
• sudo echo "export ROS_MASTER_URI=http://localhost:11311" >> $HOME/.bashrc
• sudo echo "export ROS_HOSTNAME=localhost" >> $HOME/.bashrc
• sudo source $HOME/.bashrc

Clone ROS packages

You can clone all repositories in one command.

cd src/ && \
	git clone -b kinetic-devel https://github.com/kairproject/DynamixelSDK.git && \
	git clone -b kinetic-devel https://github.com/kairproject/dynamixel-workbench.git && \
	git clone -b kinetic-devel https://github.com/kairproject/dynamixel-workbench-msgs.git && \
	git clone -b kinetic-devel https://github.com/kairproject/open_manipulator.git && \
	git clone -b kinetic-devel https://github.com/kairproject/open_manipulator_msgs.git && \
	git clone -b kinetic-devel https://github.com/kairproject/open_manipulator_simulations.git && \
	git clone -b kinetic-devel https://github.com/kairproject/robotis_manipulator.git && \
	git clone https://github.com/gt-ros-pkg/hrl-kdl.git && \
	git clone https://github.com/kairproject/kair_algorithms_draft.git

• cd /DynamixelSDK/python && python setup.py install

Install pip

• cd
• cd catkin_ws
• sudo wget https://bootstrap.pypa.io/get-pip.py
• sudo python2.7 get-pip.py
• sudo rm get-pip.py

Gym requirements

• sudo apt-get update
• sudo apt-get install python3-opengl zlib1g-dev libjpeg-dev patchelf cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg

Install repository requirements

• sudo apt-get remove python-psutil
• cd src/kair_algorithms_draft/scripts
• sudo python2.7 -m pip install -r requirements.txt
• sudo python2.7 -m pip install gym['Box2d']

Permission setting

• cd
• cd catkin_ws
• sudo chmod +x -R src/kair_algorithms_draft

Catkin_make

• source /opt/ros/kinetic/setup.bash
• catkin_make

It's finished!

Issues

When you have issues with setup, just fix your issue and continue our setting description.