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.
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.
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