Configurations, launch files, and source code for the final SAPHARI review.

This installation was tested for Ubuntu 14.04 with ROS Indigo.

Please install MongoDB and the C++ client for MongoDB following these external instructions:

• MongoDB: https://docs.mongodb.org/manual/tutorial/install-mongodb-on-ubuntu/
• MongoDB C++ Client (branch compat26): https://github.com/mongodb/mongo-cxx-driver/wiki/Download-and-Compile-the-Legacy-Driver

To speed-up development, you will need three workspaces which overlay sequently: First, there is a catkin workspace for knowrob, then comes another catkin workspace for all other catkin packages, and finally there is a rosbuild workspace for the dlr_action_bridge. For convenience, we have created several rosinstall files.

First, create the workspaces in the above described order:

• cd && mkdir -p ros/saphari_knowrob/src && mkdir -p ros/saphari_catkin/src && mkdir ros/saphari_rosbuild
• cd ~/ros/saphari_knowrob/src && wstool init
• cd ~/ros/saphari_knowrob && source /opt/ros/indigo/setup.bash && catkin_make
• cd ~/ros/saphari_catkin/src && wstool init
• cd ~/ros/saphari_catkin && source ~/ros/saphari_knowrob/devel/setup.bash && catkin_make
• cd ~/ros/saphari_rosbuild && wstool init
• echo source ~/ros/saphari_catkin/devel/setup.bash >> ~/.bashrc
• echo export ROS_PACKAGE_PATH=~/ros/saphari_rosbuild:${ROS_PACKAGE_PATH} >> ~/.bashrc
• source ~/.bashrc

Then, initialize and build the knowrob workspace:

• cd ~/ros/saphari_knowrob/src
• wstool merge https://raw.githubusercontent.com/code-iai/saphari_final_review/master/saphari_final_review/rosinstall/saphari_knowrob.rosinstall
• wstool update
• rosdep install --ignore-src --from-paths stacks/
• cd ~/ros/saphari_knowrob && catkin_make

Afterwards, init and build the remaining catkin packages in the 2nd overlay. Unfortunately, you will need several of 'em precious CATKIN_IGNORE to make your everything compile:

• cd ~/ros/saphari_catkin/src
• wstool merge https://raw.githubusercontent.com/code-iai/saphari_final_review/master/saphari_final_review/rosinstall/saphari_catkin.rosinstall
• wstool update
• TODO: add correct rosdep rule!
• roscd iai_boxy_hw && touch CATKIN_IGNORE
• roscd robosherlock_process_module && touch CATKIN_IGNORE
• cd ~/ros/saphari_catkin && catkin_make

Finally, checkout and build the dlr_action_bridge in the rosbuild workspace:

• cd ~/ros/saphari_rosbuild
• wstool merge https://raw.githubusercontent.com/code-iai/saphari_final_review/master/saphari_final_review/rosinstall/saphari_rosbuild.rosinstall
• wstool update
• rosmake dlr_action_bridge

To conclude the setup, your user needs the rights to write to shared memory and set high real-time priorities. Using sudo, add the following lines to the file /etc/security/limits.conf:

• YOUR-USER - rtprio 99
• YOUR-USER - memlock 250000

Start the simulated environment:

• roslaunch saphari_robot_bringup robot_sim.launch

To play with the urdf of the robot in rviz launch:

• roslaunch saphari_robot_description display.launch

Start the simulation:

• roslaunch saphari_robot_bringup robot_sim.launch

Use beastypy to verify that we can move the arm around:

• roscd dlr_beastypy_examples
• ./src/rcu_test_sim.py
• >>> start_on_table(beasty)

Use the command-line tools to check that we can command the gripper:

• rostopic pub -r 10 /gripper/position_goal iai_wsg_50_msgs/PositionCmd '{pos: 90, speed: 20.0, force: 10.0}'
• rostopic pub -r 10 /gripper/position_goal iai_wsg_50_msgs/PositionCmd '{pos: 10, speed: 20.0, force: 10.0}'