My experiences with ROS
Installing ros-electric-pr2-desktop
- Following instructions in http://www.ros.org/wiki/Robots/PR2/electric
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list' wget http://packages.ros.org/ros.key -O - | sudo apt-key add - sudo apt-get update sudo apt-get install ros-electric-pr2-desktop
Installing Additional Tools
- Source control, Python and Rosinstall
sudo apt-get install python-setuptools sudo easy_install -U rosinstall sudo apt-get install bzr bzr-explorer qbzr sudo apt-get install mercurial sudo apt-get install subversion python-svn
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
- Copy the following code to a file named /tmp/sr_stable.rosinstall:
- bzr: uri: lp:sr-ros-interface/stable local-name: shadow_robot - bzr: uri: 'lp:sr-ros-interface-ethercat' local-name: shadow_robot_ethercat version: 517 - svn: uri: 'http://isr-uc-ros-pkg.googlecode.com/svn/stacks/serial_communication/trunk/cereal_port' local-name: cereal_port
- Rosinstall this file:
mkdir /home/alex/ros_workspace rosinstall /home/alex/ros_workspace/ /tmp/sr_stable.rosinstall /opt/ros/electric
- Source the created setup.bash
source /home/alex/ros_workspace/setup.bash
Compile the thing
- Build sr_hand with Gazebo
GAZEBO=1 rosmake --rosdep-install sr_hand GAZEBO=1 rosmake --rosdep-install sr_hardware_interface GAZEBO=1 rosmake --rosdep-install sr_mechanism_controllers GAZEBO=1 rosmake --rosdep-install sr_mechanism_model GAZEBO=1 rosmake --rosdep-install sr_gazebo_plugins
- Build extra packages
rosmake sr_external_dependencies rosmake --rosdep-install sr_control_gui cyberglove sr_remappers sr_tactile_sensors sr_kinematics
Install the KCL sensors
- Unpack KCL code to a directory eg and add kclcontloc_sim and kcl_msgs to ROSPATH.
- Build
rosmake --rosdep-install kclcontloc_sim
- Edit arm_and_hand_motor_ellipsoid.urdf.xacro and replace full_arm_motor.urdf.xacro by full_arm_motor_with_kinect.urdf.xacro
Running it
- Run the robot simulator
optirun roslaunch sr_hand gazebo_arm_and_hand_motor_ellipsoid.launch
- Run the interface
roslaunch sr_hand sr_arm_motor.launch
- Run the simulated sensors
roslaunch kclcontloc_sim kclcontloc_sim.launch
- Run the object manipulation stack
roslaunch sr_object_manipulation_launch sr_object_manipulation.launch
NOTE: MAY NEED TO RESET GAZEBO
Configurations
- Reduce the framerate
rosrun topic_tools throttle messages /camera/depth_registered/points 1
Interfaces
- Run the controller gui
rosrun sr_control_gui sr_control_gui
- Image viewer
rosrun image_view image_view image:=/camera/image/raw
- RVIZ
optirun rosrun rviz rviz
- ROSGUI
rosrun rosgui rosgui
Connect to the UPMC setup
export ROS_MASTER_URI=http://hand:11311