Developed during KUKA challenge 2013.
- Ubuntu 14.04
- youBot firmware 1.48 & youbot_driver v0.96
- ROS (indigo) installed and setup (www.ros.org)
- rtt_ros_integration (corresponding to indigo) installed and setup.
- v-rep 3.1.3
Install ROS Indigo
sudo apt-get install ros-indigo-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall ruby ruby-dev libncurses5-dev libncurses5 liblua5.1.0-dev
sudo gem install rake
download lua socket library and compile
wget http://files.luaforge.net/releases/luasocket/luasocket/luasocket-2.0.2/luasocket-2.0.2.tar.gz
tar -xvzf luasocket-2.0.2.tar.gz
cd luasocket-2.0.2
export CPATH=$CPATH:/usr/include/lua5.1
make
sudo make install
echo "export LUA_PATH=$LUA_PATH:/usr/share/lua/5.1/?.lua" >> ~/.bashrc
echo "export LUA_CPATH=$LUA_CPATH:/usr/lib/lua/5.1/?.so" >> ~/.bashrc
then build and compile a fresh catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
now install Orocos through the rtt_ros_integration
export OROCOS_TARGET=gnulinux
mkdir -p ~/catkin_ws/underlay_isolated/src/orocos
cd ~/catkin_ws/underlay_isolated
git clone --recursive git://git.gitorious.org/orocos-toolchain/orocos_toolchain.git -b toolchain-2.7 src/orocos/orocos_toolchain
catkin_make_isolated --install
cd ~/catkin_ws/underlay_isolated/install_isolated/lib/ruby/1.9.1/x86_64-linux/orogen/templates/typekit
touch CATKIN_IGNORE
source ~/catkin_ws/underlay_isolated/install_isolated/setup.sh
mkdir -p ~/catkin_ws/underlay/src
cd ~/catkin_ws/underlay
git clone https://github.com/orocos/rtt_ros_integration.git src/rtt_ros_integration
catkin_make
source devel/setup.sh
HILAS needs KDL library too, so it's necessary to install it. For first check if this dependencies are satisfied: Eigen2, Sip 4.7.9 and python for the python bindings, >= Cmake 2.6 then install orocos_kdl in an isolated workspace.
echo "source ~/catkin_ws/underlay_isolated/install_isolated/setup.bash" >> ~/.bashrc
echo "source ~/catkin_ws/underlay/devel/setup.bash" >> ~/.bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
cd ~/catkin_ws/underlay_isolated
git clone https://github.com/orocos/orocos_kinematics_dynamics.git src/orocos_kinematics_dynamics
catkin_make_isolated --install
source install_isolated/setup.sh
Clone our repository to the ./src folder inside the catkin workspace and then follow run catkin_make on the workspace.
Be sure to replace yourusername in the following
git clone --recursive -b indigo https://yourusername@bitbucket.org/altairlab/hilas.git
The simulator included in hilas is vrep provided by Coppelia Robotics. Download the leatest version from their website http://www.coppeliarobotics.com, then rename the vrep folder in V-REP and place it in the /simulator folder, then install joystick-driver. For a more extended explanation visit this guide: http://www.coppeliarobotics.com/helpFiles/en/rosTutorialHydro.htm
cd ~/catkin_ws
echo "export YOUBOTDIR=~/catkin_ws/src/hilas/robots/youBot/youbot_driver" >> ~/.bashrc
echo "export HILAS_HOME=~/catkin_ws/src" >> ~/.bashrc
mkdir -p ~/catkin_ws/src/hilas/robots/youBot/youbot_driver/lib
touch ~/catkin_ws/src/hilas/robots/youBot/youbot_driver/lib/libYouBotDriver.so
catkin_make
After the workspace compilation follow these steps to setup youbot-driver for catkin.
cd src/hilas/robots/youBot/youbot_driver
mkdir lib
rm lib/libYouBotDriver.so
ln -s ~/catkin_ws/devel/lib/libYouBotDriver.so lib/libYouBotDriver.so
WIP