Skip to content

Latest commit

 

History

History
66 lines (56 loc) · 3.32 KB

software_install.md

File metadata and controls

66 lines (56 loc) · 3.32 KB
Raw

The updated SMB software is still work in progress! Thus, this documentation is only a rough guide, not (yet) covering all aspects of setting up the software.

Setting up the SMB software

Prerequisites

Similar to the software for the RSS 2019, the SMB software has a lot of system dependencies. Unfortunately, there is no list yet. Installing the dependencies from 2019 is a good starting point.

The SMB software runs on ROS melodic, check the offical instructions on how to set up ROS. Make sure that the following ROS packages are installed:

sudo apt install ros-melodic-hector-gazebo-plugins ros-melodic-joy ros-melodic-costmap-2d ros-melodic-ompl ros-melodic-base-local-planner ros-melodic-costmap-converter ros-melodic-mbf-costmap-core ros-melodic-mbf-msgs ros-melodic-libg2o ros-melodic-navfn ros-melodic-move-base python-catkin-tools python3-vcstool ros-melodic-velodyne-simulator

Installation of GLPK is also required:

sudo apt install libglpk-dev

If you're planning to use the realsense cameras (i.e. on the real robot), you'll need to install the latest librealsense. In a nutshell:

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main"
sudo apt-get update
sudo apt-get install librealsense2-utils librealsense2-dkms librealsense2-dev

The realsense-ros packages depend on the ddynamic_reconfigure package. You can install it using the package manager:

sudo apt install ros-melodic-ddynamic-reconfigure

Closed source packages

For some of the core software packages, you'll need to be granted access by the RSL. These repositories are hosted on bitbucket, thus you'll need a bitbucket (Atlassian) account. Send your account details (username and associated email address) to Johannes from RSL and ask for permission to access the RSS related SMB repositories.

Set up a catkin workspace

We follow the same procedure as for the RSS2019. Create a new catkin workspace.

mkdir -p ~/smb_2_0_catkin_ws/src
cd ~/smb_2_0_catkin_ws
catkin init
catkin config --extend /opt/ros/melodic
catkin config -DCMAKE_BUILD_TYPE=Release

Using vcstool you can manage the packages in your workspace. For that you'll need to get the .rosinstall file within this repository.

cd ~/smb_2_0_catkin_ws/src
git clone [email protected]:ETHZ-RobotX/smb_dev.git
vcs import . < smb_dev/smb2_0.rosinstall

If you're running the software on the robot, you'll need to add some more packages.

vcs import . < smb_dev/smb2_0_hw.rosinstall

If you're only interested in running the simulation, you can run

catkin build smb_sim smb_path_planner

If you would like to run the everything on the real robot, you'can execute the following command instead:

catkin build smb_sensors smb_navigation smb_lpc