Top/project/FingerVision/Hackathon-Fall-2018/Installation
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FingerVision †

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SDK Installation

SDKのインストール

WARNING: This is out of dated. Please follow the latest installation guide of ay_tools.
Info
This is a subset of Installation of ay_tools.
Table of contents 目次
  • Operating System
    • Ubuntu Version
  • Install Dependencies
    • Basic Tools (Required)
    • Basic Tools (Optional)
    • Dynamixel SDK
    • OpenCV (ay_vision, ay_3dvision, fingervision)
    • MJPG-Streamer (fingervision)
    • ROS (Required/ay_vision, ay_3dvision, ay_sim, ay_trick, ay_util, fingervision)
      • Initialization
      • Additional packages
      • Setup environment
      • Catkin packages
  • Install ay_tools

Operating System †

All programs are developed and tested on Ubuntu. In the following installation, Ubuntu is assumed.

↑

Ubuntu Version †

We recommend Ubuntu 16.04 (Xenial).

↑

Install Dependencies †

↑

Basic Tools (Required) †

Necessary to build and use ay_tools:

 $ sudo apt-get -f install git g++ make cmake automake libtool pkg-config
 $ sudo apt-get -f install libboost-all-dev libboost-dev
 $ sudo apt-get -f install python-setuptools python python-numpy python-scipy python-sklearn python-matplotlib python-tk
↑

Basic Tools (Optional) †

These are optional packages (useful).

 $ sudo apt-get -f install openssh-server tcsh lv tig htop dstat nkf w3m xclip units cmake-curses-gui gcc-doc glibc-doc
 $ sudo apt-get -f install gnuplot gnuplot-qt
 $ sudo apt-get -f install kwrite kate konsole dolphin ark yakuake kdiff3 kompare
↑

Dynamixel SDK †

When using Dynamixel gripper, Mikata arm, etc.

 $ mkdir ~/prg
 $ cd ~/prg/
 $ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
 $ cd DynamixelSDK/c/build/linux64/
 (Currently we need to downgrade: $ git checkout 8f89889615c9)
 $ make

Add your user account to dialout group to handle USB:

 $ sudo usermod -a -G dialout USERNAME

where USERNAME is your user name (e.g. akihikoy).

↑

OpenCV (ay_vision, ay_3dvision, fingervision) †

Install OpenCV 2.4.x:

 $ sudo apt-get -f install libopencv-calib3d-dev libopencv-calib3d2.4v5 libopencv-contrib-dev libopencv-contrib2.4v5 libopencv-core-dev libopencv-core2.4v5\
   libopencv-features2d-dev libopencv-features2d2.4v5 libopencv-flann-dev libopencv-flann2.4v5 libopencv-gpu-dev libopencv-gpu2.4v5\
   libopencv-highgui-dev libopencv-highgui2.4v5 libopencv-imgproc-dev libopencv-imgproc2.4v5 libopencv-legacy-dev libopencv-legacy2.4v5\
   libopencv-ml-dev libopencv-ml2.4v5 libopencv-objdetect-dev libopencv-objdetect2.4v5 libopencv-ocl-dev libopencv-ocl2.4v5\
   libopencv-photo-dev libopencv-photo2.4v5 libopencv-stitching-dev libopencv-stitching2.4v5 libopencv-superres-dev libopencv-superres2.4v5\
   libopencv-ts-dev libopencv-ts2.4v5 libopencv-video-dev libopencv-video2.4v5 libopencv-videostab-dev libopencv-videostab2.4v5 python-opencv
 $ sudo apt-get -f install libopencv-dev

Note: Perhaps you need to add ROS repository to apt sources list before installing libopencv-dev.

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MJPG-Streamer (fingervision) †

 $ sudo apt-get install git cmake libjpeg8-dev uvcdynctrl v4l-utils
 $ mkdir ~/prg && cd ~/prg/
 $ git clone https://github.com/akihikoy/mjpg-streamer.git mjpg-streamer2
 $ cd mjpg-streamer2/mjpg-streamer-experimental
 $ make
↑

ROS (Required/ay_vision, ay_3dvision, ay_sim, ay_trick, ay_util, fingervision) †

  • cf. ROS
  • cf. Ubuntu install of ROS Kinetic

Typical installation (ROS Kinetic = LTS version):

 $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 (Or, $ 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 install ros-kinetic-desktop-full

Sometimes we experience the dependency issue. Recently (2018-05-26), I could figure it out by:

 (Not usual: $ sudo apt-get -f install ros-kinetic-desktop-full ros-kinetic-simulators ros-kinetic-desktop )
↑

Initialization †

 $ sudo rosdep init
 $ rosdep update
↑

Additional packages †

ay_util depends on:

 $ sudo apt-get -f install ros-kinetic-moveit-commander ros-kinetic-moveit-planners ros-kinetic-moveit-plugins ros-kinetic-moveit-ros ros-kinetic-moveit-resources ros-kinetic-cmake-modules ros-kinetic-usb-cam  ros-kinetic-rviz-visual-tools
 $ sudo apt-get -f install ros-kinetic-joy
 $ sudo apt-get -f install ros-kinetic-urdfdom-py ros-kinetic-kdl-parser-py
↑

Setup environment †

 $ nano ~/.bashrc
 (Add the following lines to the end of the file)
 ROS_DISTR=kinetic
 . /opt/ros/$ROS_DISTR/setup.bash
 . ~/catkin_ws/devel/setup.bash
 . /opt/ros/$ROS_DISTR/share/rosbash/rosbash
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:$HOME/ros_ws:$HOME/prg/testl/ros_sandbox

Log out, and log in (or source .bashrc).

↑

Catkin packages †

 $ mkdir -p ~/catkin_ws/src
 $ cd ~/catkin_ws/src/
 $ git clone https://github.com/akihikoy/mikata_arm_description.git
 $ cd ..
 $ catkin_make
↑

Install ay_tools †

We use rosws:

 $ sudo apt-get -f install python-rosinstall

If you use py_gui.py:

 $ sudo apt-get -f install python-qt4 tmux rxvt-unicode-256color

Download ay_tools:

 $ mkdir ~/ros_ws/
 $ cd ~/ros_ws/
 $ rosws init
 $ rosws merge https://raw.githubusercontent.com/akihikoy/ay_common/master/ay_ros/ay_tools_fvmikata.rosinstall
 $ rosws update
 $ rospack profile

Build:

 $ rosmake ay_util
 $ rosmake fingervision



Last-modified:2019-04-18 (Thu) 07:12:30 (2254d)
Link: project/FingerVision/Hackathon-Fall-2018(2477d)
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