!! My experiences with ROS



!!! Installing ros-electric-pr2-desktop

* Following instructions in http://www.ros.org/wiki/Robots/PR2/electric

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[@
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
@]
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!!! Installing Additional Tools

* Source control, Python and Rosinstall

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[@
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
@]
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!!! Installing Shadow Robot Simulator in ROS (for HANDLE Project)

* Copy the following code to a file named /tmp/sr_stable.rosinstall:

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[@
- 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
@]
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* Rosinstall this file: 

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[@
mkdir /home/alex/ros_workspace
rosinstall /home/alex/ros_workspace/ /tmp/sr_stable.rosinstall /opt/ros/electric
@]
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* Source the created setup.bash

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[@
source /home/alex/ros_workspace/setup.bash
@]
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* 

!!! Compile the thing

* Build sr_hand with Gazebo

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[@
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

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[@
rosmake sr_external_dependencies
rosmake --rosdep-install sr_control_gui cyberglove sr_remappers sr_tactile_sensors sr_kinematics
@]
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!!! Install the KCL sensors


* Unpack KCL code to a directory eg and add kclcontloc_sim and kcl_msgs to ROSPATH.

* Build

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[@
rosmake --rosdep-install kclcontloc_sim 
@]
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* 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

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[@
optirun roslaunch sr_hand gazebo_arm_and_hand_motor_ellipsoid.launch
@]
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* Run the interface

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[@
roslaunch sr_hand sr_arm_motor.launch
@]
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* Run the simulated sensors

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[@
roslaunch kclcontloc_sim kclcontloc_sim.launch
@]
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* Run the object manipulation stack

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[@
roslaunch sr_object_manipulation_launch sr_object_manipulation.launch
@]
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NOTE: MAY NEED TO RESET GAZEBO


!!! Configurations

* Reduce the framerate

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[@
rosrun topic_tools throttle messages /camera/depth_registered/points 1
@]
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!!! Interfaces

* Run the controller gui

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[@
rosrun sr_control_gui sr_control_gui
@]
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* Image viewer

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[@
rosrun image_view image_view image:=/camera/image/raw
@]
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* RVIZ

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[@
optirun rosrun rviz rviz
@]
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* ROSGUI

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[@
rosrun rosgui rosgui
@]
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!!! Connect to the UPMC setup

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[@
export ROS_MASTER_URI=http://hand:11311
@]