Installation of ay_tools

Table of contents 目次

Operating System
- Ubuntu Version
Install Dependencies
Install ay_tools

Operating System †

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

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Ubuntu Version †

We recommend Ubuntu 16.04 (Xenial).

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Install Dependencies †

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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

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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

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Dynamixel SDK †

When using Dynamixel gripper, Mikata arm, etc.

$ mkdir -p ~/prg && cd ~/prg/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ cd DynamixelSDK/python/
$ python setup.py install --user
# THIS WILL INSTALL TO ~/.local/lib/python2.7/site-packages

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).

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Open Dynamics Engine (ay_sim) †

ODE is an open source dynamics simulator.

 $ mkdir ~/prg
 $ cd ~/prg
 $ git clone https://github.com/akihikoy/libode.git
 $ cd libode
 $ tar jxvf arc/ode-0.13.tar.bz2
 $ cd ode-0.13
 (Older versions:                               )
 (   $ ./configure --with-double-precision      )
 Newer versions:
     $ ./configure --enable-double-precision --enable-shared
 (Build with a single CPU:  )
 (   $ make                 )
 If you have many cores:
     $ make -j8

Testing ODE installation:

 ode/demo/demo_chain1
 ode/demo/demo_chain2
 ode/demo/demo_buggy
 ode/demo/demo_crash
 ode/demo/demo_boxstack

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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 (Optional/fingervision) †

cf. FingerVision/MJPG-Streamer

 $ 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

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Chainer (Optional/ay_py) †

 $ cd ~/prg
 $ git clone akihikoy@cga12:prg/chainer
 $ cd chainer
 $ git checkout 71f4eb34739badecbb7d05614a6e80e08a2b6722
 $ python setup.py install --user

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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 )

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Initialization †

 $ sudo rosdep init
 $ rosdep update

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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

When using Robotiq gripper:

 $ sudo apt-get -f install ros-kinetic-control-msgs ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros
 $ sudo apt-get -f install ros-kinetic-soem ros-kinetic-controller-manager ros-kinetic-socketcan-interface

When using Motoman:

 $ sudo apt-get install ros-kinetic-industrial-core

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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).

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Catkin packages †

 $ mkdir -p ~/catkin_ws/src
 $ cd ~/catkin_ws/src/
 $ git clone https://github.com/ros-perception/ar_track_alvar.git
 (Only when using Robotiq gripper)
     $ git clone https://github.com/ros-industrial/robotiq.git
     $ touch robotiq/robotiq_s_model_articulated_gazebo/CATKIN_IGNORE robotiq/robotiq_s_model_articulated_gazebo_plugins/CATKIN_IGNORE
 (Only when using Motoman)
     $ git clone https://github.com/ros-industrial/motoman.git
 (Only when using Mikata arm)
     $ git clone https://github.com/akihikoy/mikata_arm_description.git
     $ git clone https://github.com/akihikoy/mikata_arm_6dof_description.git
 (Build the Catkin packages)
 $ cd ..
 $ catkin_make

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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.rosinstall
 (Alternatively,)
     FV+Mikata arm demo:
     $ 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 ay_vision
 $ rosmake ay_sim
 $ rosmake ay_3dvision
 $ rosmake fingervision