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 †

The program is tested on Ubuntu 18.04 (Bionic).

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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 $USER

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Open Dynamics Engine (ay_sim) †

The simulator (ay_sim) is currently not maintained.

~~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 3.2.x:

 $ sudo apt-get -f install libopencv-calib3d-dev libopencv-calib3d3.2 libopencv-contrib-dev libopencv-contrib3.2 libopencv-core-dev libopencv-core3.2 libopencv-dev libopencv-features2d-dev libopencv-features2d3.2 libopencv-flann-dev libopencv-flann3.2 libopencv-highgui-dev libopencv-highgui3.2 libopencv-imgcodecs-dev libopencv-imgcodecs3.2 libopencv-imgproc-dev libopencv-imgproc3.2 libopencv-ml-dev libopencv-ml3.2 libopencv-objdetect-dev libopencv-objdetect3.2 libopencv-photo-dev libopencv-photo3.2 libopencv-shape-dev libopencv-shape3.2 libopencv-stitching-dev libopencv-stitching3.2 libopencv-superres-dev libopencv-superres3.2 libopencv-ts-dev libopencv-video-dev libopencv-video3.2 libopencv-videoio-dev libopencv-videoio3.2 libopencv-videostab-dev libopencv-videostab3.2 libopencv-viz-dev libopencv-viz3.2 opencv-data opencv-doc python3-opencv

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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) †

Chainer-related code is no longer maintained.

 $ 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 Melodic

Typical installation (ROS Melodic = 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'
 $ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 $ sudo apt-get update
 $ sudo apt-get install ros-melodic-desktop-full

 $ sudo apt-get -f install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

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Initialization †

 $ . /opt/ros/melodic/setup.bash
 $ sudo rosdep init
 $ rosdep update

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Additional packages †

ay_util depends on:

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

(Robotiq gripper code is no longer maintained) ~~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

(Motoman code is no longer maintained) ~~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 Configuration
 #ROS_DISTR=kinetic
 ROS_DISTR=melodic
 . /opt/ros/$ROS_DISTR/setup.bash
 . ~/catkin_ws/devel/setup.bash
 . /opt/ros/$ROS_DISTR/share/rosbash/rosbash
 
 export ROS_MASTER_URI=http://localhost:11311
 export ROS_IP=127.0.0.1
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:$HOME/ros_ws:${HOME}/prg/ay_test/ros

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 [REPOSITORY]
 $ cd ..
 $ catkin_make

Motoman:

 $ git clone https://github.com/ros-industrial/motoman.git

Mikata arm:

 $ git clone https://github.com/akihikoy/mikata_arm_description.git
 $ git clone https://github.com/akihikoy/mikata_arm_6dof_description.git

Universal Robots:

 Additional ROS packages are necessary:
 $ sudo apt-get -f install ros-$ROS_DISTR-ur-msgs ros-$ROS_DISTR-industrial-robot-status-interface ros-$ROS_DISTR-ur-client-library ros-$ROS_DISTR-joint-trajectory-controller ros-$ROS_DISTR-joint-state-controller ros-$ROS_DISTR-velocity-controllers ros-$ROS_DISTR-controller-manager ros-$ROS_DISTR-force-torque-sensor-controller ros-$ROS_DISTR-scaled-joint-trajectory-controller ros-$ROS_DISTR-speed-scaling-interface ros-$ROS_DISTR-speed-scaling-state-controller ros-$ROS_DISTR-pass-through-controllers
 Catkin packages:
 $ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
 $ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git

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Install ay_tools †

We use rosws:

 $ sudo apt-get -f install python-rosinstall

If you use ay_py/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 fingervision

(Currently not maintained)

 $ rosmake ay_vision
 $ rosmake ay_sim
 $ rosmake ay_3dvision