Difference between revisions of "Workstation Setup"

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__NOTOC__
+
 
 
<div class="title-block">
 
<div class="title-block">
 
<span style="font-size:120%;">'''This tutorial describes the setup of a development workstation'''</span>
 
<span style="font-size:120%;">'''This tutorial describes the setup of a development workstation'''</span>
 
</div>
 
</div>
 +
 +
{{TOClimit|limit=2}}
 +
 
<div class="content-block">
 
<div class="content-block">
 +
 
== Required Hardware ==
 
== Required Hardware ==
* 1 Sawyer Robot
+
* Sawyer Robot & Developer Workstation
* 1 Development Workstation (Meeting [[System_requirements | Minimum System Requirements]])
+
=== Workstation Requirements ===
 +
* A development workstation capable of running '''Ubuntu 16.04 LTS''' and '''ROS Kinetic''' (or '''Ubuntu 14.04 LTS''' and '''ROS Indigo'''), with the following minimum specifications:
 +
** Intel i5 or above
 +
** 4GB Memory or above
 +
** At least 7 GB of free disk space
 +
** Ethernet port
 +
** If any visualization (RViz) or simulation (Gazebo) is required for your application, a [http://gazebosim.org/tutorials?tut=guided_b1&cat=#Systemrequirements '''dedicated NVidia graphics card'''] with proprietary NVidia drivers is recommended
 +
 
 
</div>
 
</div>
 +
 
<div class="content-block">
 
<div class="content-block">
== Step 1: Install Ubuntu ==
 
  
'''Current required version: Ubuntu 14.04'''
+
== Install Ubuntu ==
 +
 
 +
 
 +
<tabs>
 +
<tab name="Ubuntu 16.04 (Recommended)">
 +
Follow the standard Ubuntu Installation Instructions for '''16.04''' (Desktop):
 +
* Download the Installer Image file, by picking the "[http://releases.ubuntu.com/xenial/ Desktop CD]" image appropriate for your machine:
 +
** [http://releases.ubuntu.com/xenial/ubuntu-16.04.3-desktop-amd64.iso 64-bit (AMD64) .iso image (recommended)] / [http://releases.ubuntu.com/xenial/ubuntu-16.04.3-desktop-i386.iso 32-bit (Intel x86) .iso image]
 +
 
 +
* Create an Ubuntu LiveUSB installer by burning the installer image onto a USB stick.
 +
** [http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-windows Windows] / [http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-mac-osx Mac OS X] / [http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-ubuntu Ubuntu]
 +
* Follow the [https://help.ubuntu.com/community/GraphicalInstall Ubuntu Installation Instructions]
 +
</tab>
  
Follow the standard Ubuntu Installation Instructions for 14.04 (Desktop):
+
<tab name="Ubuntu 14.04">
 +
Follow the standard Ubuntu Installation Instructions for '''14.04''' (Desktop):
 
* Download the Installer Image file, by picking the "[http://releases.ubuntu.com/trusty/ Desktop CD]" image appropriate for your machine:
 
* Download the Installer Image file, by picking the "[http://releases.ubuntu.com/trusty/ Desktop CD]" image appropriate for your machine:
** 32-bit (Intel x86): http://releases.ubuntu.com/trusty/ubuntu-14.04.3-desktop-i386.iso
+
** [http://releases.ubuntu.com/trusty/ubuntu-14.04.5-desktop-amd64.iso 64-bit (AMD64) .iso image (recommended)] / [http://releases.ubuntu.com/trusty/ubuntu-14.04.5-desktop-i386.iso 32-bit (Intel x86) .iso image]
** 64-bit (AMD64): http://releases.ubuntu.com/trusty/ubuntu-14.04.3-desktop-amd64.iso
 
  
 
* Create an Ubuntu LiveUSB installer by burning the installer image onto a USB stick.
 
* Create an Ubuntu LiveUSB installer by burning the installer image onto a USB stick.
** Windows: http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-windows
+
** [http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-windows Windows] / [http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-mac-osx Mac OS X] / [http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-ubuntu Ubuntu]
** Mac OS X: http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-mac-osx
+
* Follow the [https://help.ubuntu.com/community/GraphicalInstall Ubuntu Installation Instructions]
** Ubuntu: http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-ubuntu
+
</tab>
* Follow the Ubuntu Installation Instructions here: https://help.ubuntu.com/community/GraphicalInstall
+
</tabs>
  
 +
</div>
  
 +
<div class="content-block">
 +
 +
== Open Terminal App ==
 +
Search your computer for the Terminal package, and open it:
 +
 +
[[File:terminal.png|500px]]
 +
 +
The rest of the workstation setup tutorial will take place in by typing commands in this terminal prompt.
 
</div>
 
</div>
  
 
<div class="content-block">
 
<div class="content-block">
== Step 2: Install ROS ==
+
== Install ROS ==
 +
<tabs>
 +
<tab name="ROS Kinetic for Ubuntu 16.04 (Recommended)">
 +
=== Configure Ubuntu repositories ===
 +
 
 +
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow [https://help.ubuntu.com/community/Repositories/Ubuntu the Ubuntu guide] for instructions on doing this.<br />
 +
 
 +
''Likely, they are already configured properly, and you only need to confirm the configuration.''
 +
 
 +
=== Setup your sources.list ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
 +
</syntaxhighlight>
 +
 
 +
=== Setup your keys ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 +
</syntaxhighlight>
 +
 
 +
=== Update to Latest Software Lists ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo apt-get update
 +
</syntaxhighlight>
 +
 
 +
=== Install ROS Kinetic Desktop Full ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo apt-get install ros-kinetic-desktop-full
 +
</syntaxhighlight>
 +
 
 +
=== Initialize rosdep ===
 +
 
 +
rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo rosdep init
 +
$ rosdep update
 +
</syntaxhighlight>
 +
 
 +
=== Install rosinstall ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo apt-get install python-rosinstall
 +
</syntaxhighlight>
 +
</tab>
  
'''Current supported version: ROS Indigo'''
+
<tab name="ROS Indigo for Ubuntu 14.04">
  
Install ROS Indigo
+
=== Configure Ubuntu repositories ===
  
'''Configure Ubuntu repositories'''
 
 
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow [https://help.ubuntu.com/community/Repositories/Ubuntu the Ubuntu guide] for instructions on doing this.<br />
 
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow [https://help.ubuntu.com/community/Repositories/Ubuntu the Ubuntu guide] for instructions on doing this.<br />
  
 
''Likely, they are already configured properly, and you only need to confirm the configuration.''
 
''Likely, they are already configured properly, and you only need to confirm the configuration.''
  
'''Setup your sources.list'''
+
=== Setup your sources.list ===
  
<embed_code>
+
<syntaxhighlight lang="bash" enclose="div">
 
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
 
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
</embed_code>
+
</syntaxhighlight>
 +
 
 +
=== Setup your keys ===
  
'''Setup your keys'''
 
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 
</syntaxhighlight>
 
</syntaxhighlight>
  
'''Verify Latest Debians'''
+
=== Update to Latest Software Lists ===
 +
 
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ sudo apt-get update
 
$ sudo apt-get update
 
</syntaxhighlight>
 
</syntaxhighlight>
  
'''Install ROS Indigo Desktop Full'''
+
=== Install ROS Indigo Desktop Full ===
 +
 
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ sudo apt-get install ros-indigo-desktop-full
 
$ sudo apt-get install ros-indigo-desktop-full
Line 62: Line 142:
 
'''NOTE:''' You may get a prompt about 'hddtemp' during the installation. You can safely answer 'No'.
 
'''NOTE:''' You may get a prompt about 'hddtemp' during the installation. You can safely answer 'No'.
  
'''Initialize rosdep'''
+
=== Initialize rosdep ===
 +
 
 
rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
 
rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
Line 69: Line 150:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
'''Install rosinstall'''
+
=== Install rosinstall ===
 +
 
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ sudo apt-get install python-rosinstall
 
$ sudo apt-get install python-rosinstall
 
</syntaxhighlight>
 
</syntaxhighlight>
 +
</tab>
 +
</tabs>
 
</div>
 
</div>
  
 
<div class="content-block">
 
<div class="content-block">
  
== Step 3: Create Baxter Development Workspace ==
+
== Create Development Workspace ==
 +
<tabs>
 +
<tab name="ROS Kinetic for Ubuntu 16.04 (Recommended)">
 +
=== Create ROS Workspace ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ mkdir -p ~/ros_ws/src
 +
# ros_ws (short for ROS Workspace)
 +
</syntaxhighlight>
 +
 
 +
=== Source ROS and Build ===
 +
 
 +
'''ROS Kinetic'''
 +
 
 +
=== Source ROS Setup ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ source /opt/ros/kinetic/setup.bash
 +
</syntaxhighlight>
 +
 
 +
=== Build ===
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ cd ~/ros_ws
 +
$ catkin_make
 +
</syntaxhighlight>
 +
</tab>
 +
 
 +
<tab name="ROS Indigo for Ubuntu 14.04">
 
=== Create ROS Workspace ===
 
=== Create ROS Workspace ===
  
Line 90: Line 202:
  
 
=== Source ROS Setup ===
 
=== Source ROS Setup ===
 +
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ source /opt/ros/indigo/setup.bash
 
$ source /opt/ros/indigo/setup.bash
 
</syntaxhighlight>
 
</syntaxhighlight>
=== Build and Install ===
+
 
 +
=== Build ===
 +
 
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ cd ~/ros_ws
 
$ cd ~/ros_ws
 
$ catkin_make
 
$ catkin_make
$ catkin_make install
 
 
</syntaxhighlight>
 
</syntaxhighlight>
 +
</tab>
 +
</tabs>
 +
 
</div>
 
</div>
  
 
<div class="content-block">
 
<div class="content-block">
== Step 4: Install Baxter SDK Dependencies ==
 
  
="ROS Indigo (Supported)"
+
== Install Intera SDK Dependencies ==
 +
 
 +
<tabs>
 +
<tab name="ROS Kinetic for Ubuntu 16.04 (Recommended)">
 +
=== Install SDK Dependencies ===
  
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ sudo apt-get update
 +
$ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-kinetic-control-msgs ros-kinetic-joystick-drivers ros-kinetic-xacro ros-kinetic-tf2-ros ros-kinetic-rviz ros-kinetic-cv-bridge ros-kinetic-actionlib ros-kinetic-actionlib-msgs ros-kinetic-dynamic-reconfigure ros-kinetic-trajectory-msgs ros-kinetic-rospy-message-converter
 +
</syntaxhighlight>
 +
</tab>
 +
 +
<tab name="ROS Indigo for Ubuntu 14.04">
 
=== Install SDK Dependencies ===
 
=== Install SDK Dependencies ===
 +
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ sudo apt-get update
 
$ sudo apt-get update
$ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers
+
$ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers ros-indigo-xacro ros-indigo-tf2-ros ros-indigo-rviz ros-indigo-cv-bridge ros-indigo-actionlib ros-indigo-actionlib-msgs ros-indigo-dynamic-reconfigure ros-indigo-trajectory-msgs ros-indigo-rospy-message-converter
 
</syntaxhighlight>
 
</syntaxhighlight>
 +
</tab>
 +
</tabs>
  
 
</div>
 
</div>
Line 116: Line 246:
 
<div class="content-block">
 
<div class="content-block">
  
== Step 5: Install Baxter Research Robot SDK ==
+
== Install Intera Robot SDK ==
 +
 
 +
<tabs>
 +
<tab name="Intera 5.3 ROS Kinetic for Ubuntu 16.04 (Recommended)">
 +
=== Download the SDK on your Workstation ===
 +
 
 +
Checkout all required Github Repositories into your ROS workspace source directory:
 +
Use git clone or download the packages directly from Github:
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ cd ~/ros_ws/src
 +
$ wstool init .
 +
$ git clone https://github.com/RethinkRobotics/sawyer_robot.git
 +
$ wstool merge sawyer_robot/sawyer_robot.rosinstall
 +
$ wstool update
 +
</syntaxhighlight>
 +
 
 +
=== Source ROS Setup ===
 +
To use ROS Kinetic to use RSDK, use command below:
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
# ROS Kinetic
 +
$ source /opt/ros/kinetic/setup.bash
 +
</syntaxhighlight>
 +
 
 +
=== Build ===
  
=== Install Baxter SDK ===
+
<syntaxhighlight lang="bash" enclose="div">
 +
$ cd ~/ros_ws
 +
$ catkin_make
 +
</syntaxhighlight>
 +
</tab>
 +
<tab name="Intera 5.3 ROS Indigo for Ubuntu 14.04">
 +
=== Download the SDK on your Workstation ===
  
Using the [http://wiki.ros.org/wstool wstool] workspace tool, we will checkout all required [https://github.com/RethinkRobotics Baxter Github Repositories] into your ROS workspace source directory.
+
Checkout all required Github Repositories into your ROS workspace source directory:
 +
Use git clone or download the packages directly from Github:
  
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ cd ~/ros_ws/src
 
$ cd ~/ros_ws/src
 
$ wstool init .
 
$ wstool init .
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
+
$ git clone https://github.com/RethinkRobotics/sawyer_robot.git
 +
$ wstool merge sawyer_robot/sawyer_robot.rosinstall
 
$ wstool update
 
$ wstool update
 
</syntaxhighlight>
 
</syntaxhighlight>
  
 
=== Source ROS Setup ===
 
=== Source ROS Setup ===
 +
To use ROS Kinetic to use RSDK, use command below:
 +
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
'''You must use ROS Indigo to use RSDK 1.2.0. Use command below.'''
+
# ROS Kinetic
# ROS Indigo
 
 
$ source /opt/ros/indigo/setup.bash
 
$ source /opt/ros/indigo/setup.bash
 
</syntaxhighlight>
 
</syntaxhighlight>
  
=== Build and Install ===
+
=== Build ===
 +
 
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ cd ~/ros_ws
 
$ cd ~/ros_ws
 
$ catkin_make
 
$ catkin_make
$ catkin_make install
 
 
</syntaxhighlight>
 
</syntaxhighlight>
 +
</tab>
 +
 +
</tabs>
  
 
</div>
 
</div>
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<div class="content-block">
 
<div class="content-block">
  
== Step 6: Configure Baxter Communication/ROS Workspace ==
+
== Configure Robot Communication/ROS Workspace ==
This step describes the configuration and setup of your [http://wiki.ros.org/ROS/EnvironmentVariables ROS environment]. This section assumes an already configured [[Networking | Network Setup]].
+
This step describes the configuration and setup of your [http://wiki.ros.org/ROS/EnvironmentVariables ROS environment]. This section assumes you have linked your workstation to the robot via Ethernet.<br/>
  
'''The current recommended environment setup: Baxter.sh ROS Environment Setup'''
+
'''Important Note:''' Connect to the robot via the ethernet port on the outside of the Controller.  Connecting to the ethernet port inside the Controller door will not work (this is a diagnostic port that is only accessible by Rethink Employees).
  
"Baxter.sh ROS Environment Setup (Recommended)"
+
[[File:Ethernet_Port.png]]
  
  
The [[baxter.sh]] script is a convenient script which allows for intuitive modification of the core ROS environment components. This user edited script will allow for the quickest and easiest ROS setup.
+
See [[Networking | Network Setup]] for recommended network configurations.
  
Further information and a detailed description is available on the [[baxter.sh]] page.
+
=== intera.sh ROS Environment Setup ===
  
==== Download the baxter.sh script ====
+
The intera.sh script is a convenience script which allows for intuitive modification of the core ROS environment components. This user edited script will allow for the quickest and easiest ROS setup.
 +
 
 +
Further information and a detailed description is available on the [[SDK_Shell]] page.
 +
 
 +
=== Copy the intera.sh script ===
 +
 
 +
The intera.sh file already exists in intera_sdk repo, copy the file into your ros workspace.
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
$ wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh
+
$ cp ~/ros_ws/src/intera_sdk/intera.sh ~/ros_ws
$ chmod u+x baxter.sh
 
 
</syntaxhighlight>
 
</syntaxhighlight>
  
==== Customize the baxter.sh script ====
+
=== Customize the intera.sh script ===
  
Please edit the baxter.sh shell script making the necessary modifications to describe your development PC.
+
Please edit the intera.sh shell script making the necessary modifications to describe your development PC.
  
 
Using your favorite editor ([https://wiki.gnome.org/Apps/Gedit gedit] used for example)
 
Using your favorite editor ([https://wiki.gnome.org/Apps/Gedit gedit] used for example)
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ cd ~/ros_ws
 
$ cd ~/ros_ws
$ gedit baxter.sh
+
$ gedit intera.sh
 
</syntaxhighlight>
 
</syntaxhighlight>
  
==== Edit the 'baxter_hostname' field ====
+
=== Edit the 'robot_hostname' field ===
Baxter's hostname is defaulted as the robot's serial number. The serial number can be located on the back of the robot, next to the power button.
+
Your robot's hostname is defaulted as the '''Controller's Serial Number''' and NOT the Robot's Serial Number. The serial number can be located on the back of the robot's controller box. Unless you intend to modify the default [[Networking]] configuration, leave the ".local" suffix on the end of the Controller's Serial Number in the '''robot_hostname.local''' field.<br/>
  
Alternatively, you can find your robot's hostname by plugging a USB keyboard into the back of Baxter and pressing Ctrl+Alt+F3.
+
=== Edit the 'your_ip' field ===
<syntaxhighlight lang="bash" enclose="div">
 
# Specify Baxter's hostname
 
**baxter_hostname="baxter_hostname.local"**
 
</syntaxhighlight>
 
  
==== Edit the 'your_ip' field ====
+
Modify where 'your_ip' is either your computer's hostname or the IP address of your PC. We advise against using WiFi connections between your robot and workstation.
Modify where 'your_ip' is the IP address of your PC.
 
  
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
**your_ip="192.168.XXX.XXX"**
+
your_ip="192.168.XXX.XXX"
 
</syntaxhighlight>
 
</syntaxhighlight>
  
Line 194: Line 361:
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ ifconfig
 
$ ifconfig
# Result will be contained in the 'inet addr' field (Ubuntu) or 'inet' field (Gentoo Robot PC).
+
# Result will be contained in the 'inet addr' field (Ubuntu).
 
</syntaxhighlight>
 
</syntaxhighlight>
  
Line 202: Line 369:
 
You may edit the 'your_hostname' field (only if not using 'your_ip'):
 
You may edit the 'your_hostname' field (only if not using 'your_ip'):
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
***your_hostname="my_computer.local***
+
your_hostname="my_computer.local
 
</syntaxhighlight>
 
</syntaxhighlight>
  
'''Important:''' This hostname must be resolvable to Baxter. To test if your hostname is resolvable to Baxter, please visit the development PC [[Hostname Validation]] page.
+
 
 +
'''Important:''' This hostname must be resolvable to Sawyer. To test if your hostname is resolvable to Sawyer, please visit the development PC [[Hostname Validation]] page.
  
 
'''Important:''' Only set either ROS_IP '''*OR*''' ROS_HOSTNAME.
 
'''Important:''' Only set either ROS_IP '''*OR*''' ROS_HOSTNAME.
Line 213: Line 381:
 
</div>
 
</div>
 
</div>
 
</div>
==== Verify 'ros_version' field ====
+
 
 +
=== Verify 'ros_version' field ===
 +
 
 
Verify that the the 'ros_version' field matches the ROS version you are running:
 
Verify that the the 'ros_version' field matches the ROS version you are running:
  
This field will default to "indigo"
+
This field will default to "indigo". To use another ROS version, update:
 +
<tabs>
 +
<tab name="ROS Kinetic for Ubuntu 16.04 (Recommended)">
 +
<syntaxhighlight lang="bash" enclose="div">
 +
ros_version="kinetic"
 +
</syntaxhighlight>
 +
</tab>
 +
<tab name="ROS Indigo for Ubuntu 14.04">
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
***ros_version="indigo"***
+
ros_version="indigo"
 
</syntaxhighlight>
 
</syntaxhighlight>
 +
</tab>
 +
</tabs>
  
==== Save and Close baxter.sh script ====
+
=== Save and Close intera.sh script ===
Please save and close the baxter.sh script.
 
  
==== Initialize your SDK environment ====
+
Please save and close the intera.sh script.
From this point forward, your ROS environment setup should be as simple as sourcing the baxter.sh script from the root of your Catkin workspace:
+
 
 +
=== Initialize your SDK environment ===
 +
 
 +
From this point forward, your ROS environment setup should be as simple as sourcing the intera.sh script from the root of your Catkin workspace:
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ cd ~/ros_ws
 
$ cd ~/ros_ws
$ . baxter.sh
+
$ ./intera.sh
 
</syntaxhighlight>
 
</syntaxhighlight>
  
Line 235: Line 416:
 
<div class="content-block">
 
<div class="content-block">
  
== Step 7: Verify Environment ==
+
== Verify Environment ==
  
 
A useful command for viewing and validating your ROS environment setup is:
 
A useful command for viewing and validating your ROS environment setup is:
Line 251: Line 432:
  
 
'''ROS_HOSTNAME''' - If not using the workstation's IP address, the ROS_HOSTNAME field should contain your PC's hostname.  Otherwise, this field should not be available.
 
'''ROS_HOSTNAME''' - If not using the workstation's IP address, the ROS_HOSTNAME field should contain your PC's hostname.  Otherwise, this field should not be available.
 +
 +
Try to get rostopic list from robot by typing following command:
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ rostopic list
 +
</syntaxhighlight>
 +
 +
You can see the rostopic list from the command line output similar as following:
 +
 +
[[File:Rostopic_list.png|400px]]
  
 
</div>
 
</div>
  
== ''Next Step'' ==
+
 
We will verify your network setup in the next section.
+
<div class="content-block">
<span style="font-size:130%;">[[Hello_Robot | '''Hello Robot!''']]</span>
+
 
 +
== Setup Rviz ==
 +
 
 +
We can also setup Rviz to view robot model, start Rviz from a properly initialized environment using:
 +
 
 +
<syntaxhighlight lang="bash" enclose="div">
 +
$ rosrun rviz rviz
 +
</syntaxhighlight>
 +
 
 +
Set the Fixed Frame as <code>/base</code>
 +
 
 +
Info: The ‘Fixed Frame’ provides a static, base reference for your visualization. Any sensor data that comes in to rviz will be transformed into that reference frame so it can be properly displayed in the virtual world.
 +
 
 +
[[File:Rviz_Fixed_Frame.png|600px]]
 +
 
 +
Add robot model into Rviz by clicking add button, then select robot model in the list, press OK to add.
 +
 
 +
 
 +
[[File:Rviz_Add_Model.png|300px]]
 +
 
 +
 
 +
Now you can visualize your robot on Rivz! Next : [[Hello Robot]]
 +
 
 +
 
 +
</div>

Latest revision as of 23:22, 14 August 2018

This tutorial describes the setup of a development workstation

Required Hardware

  • Sawyer Robot & Developer Workstation

Workstation Requirements

  • A development workstation capable of running Ubuntu 16.04 LTS and ROS Kinetic (or Ubuntu 14.04 LTS and ROS Indigo), with the following minimum specifications:
    • Intel i5 or above
    • 4GB Memory or above
    • At least 7 GB of free disk space
    • Ethernet port
    • If any visualization (RViz) or simulation (Gazebo) is required for your application, a dedicated NVidia graphics card with proprietary NVidia drivers is recommended

Install Ubuntu

Follow the standard Ubuntu Installation Instructions for 16.04 (Desktop):

Follow the standard Ubuntu Installation Instructions for 14.04 (Desktop):

Open Terminal App

Search your computer for the Terminal package, and open it:

Terminal.png

The rest of the workstation setup tutorial will take place in by typing commands in this terminal prompt.

Install ROS

Configure Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Likely, they are already configured properly, and you only need to confirm the configuration.

Setup your sources.list

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'

Setup your keys

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Update to Latest Software Lists

$ sudo apt-get update

Install ROS Kinetic Desktop Full

$ sudo apt-get install ros-kinetic-desktop-full

Initialize rosdep

rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

$ sudo rosdep init
$ rosdep update

Install rosinstall

$ sudo apt-get install python-rosinstall

Configure Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Likely, they are already configured properly, and you only need to confirm the configuration.

Setup your sources.list

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

Setup your keys

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Update to Latest Software Lists

$ sudo apt-get update

Install ROS Indigo Desktop Full

$ sudo apt-get install ros-indigo-desktop-full

NOTE: You may get a prompt about 'hddtemp' during the installation. You can safely answer 'No'.

Initialize rosdep

rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

$ sudo rosdep init
$ rosdep update

Install rosinstall

$ sudo apt-get install python-rosinstall

Create Development Workspace

Create ROS Workspace

$ mkdir -p ~/ros_ws/src
# ros_ws (short for ROS Workspace)

Source ROS and Build

ROS Kinetic

Source ROS Setup

$ source /opt/ros/kinetic/setup.bash

Build

$ cd ~/ros_ws
$ catkin_make

Create ROS Workspace

$ mkdir -p ~/ros_ws/src
# ros_ws (short for ROS Workspace)

Source ROS and Build

ROS Indigo (Supported)

Source ROS Setup

$ source /opt/ros/indigo/setup.bash

Build

$ cd ~/ros_ws
$ catkin_make

Install Intera SDK Dependencies

Install SDK Dependencies

$ sudo apt-get update
$ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-kinetic-control-msgs ros-kinetic-joystick-drivers ros-kinetic-xacro ros-kinetic-tf2-ros ros-kinetic-rviz ros-kinetic-cv-bridge ros-kinetic-actionlib ros-kinetic-actionlib-msgs ros-kinetic-dynamic-reconfigure ros-kinetic-trajectory-msgs ros-kinetic-rospy-message-converter

Install SDK Dependencies

$ sudo apt-get update
$ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers ros-indigo-xacro ros-indigo-tf2-ros ros-indigo-rviz ros-indigo-cv-bridge ros-indigo-actionlib ros-indigo-actionlib-msgs ros-indigo-dynamic-reconfigure ros-indigo-trajectory-msgs ros-indigo-rospy-message-converter

Install Intera Robot SDK

Download the SDK on your Workstation

Checkout all required Github Repositories into your ROS workspace source directory: Use git clone or download the packages directly from Github:

$ cd ~/ros_ws/src
$ wstool init .
$ git clone https://github.com/RethinkRobotics/sawyer_robot.git
$ wstool merge sawyer_robot/sawyer_robot.rosinstall
$ wstool update

Source ROS Setup

To use ROS Kinetic to use RSDK, use command below:

# ROS Kinetic
$ source /opt/ros/kinetic/setup.bash

Build

$ cd ~/ros_ws
$ catkin_make

Download the SDK on your Workstation

Checkout all required Github Repositories into your ROS workspace source directory: Use git clone or download the packages directly from Github:

$ cd ~/ros_ws/src
$ wstool init .
$ git clone https://github.com/RethinkRobotics/sawyer_robot.git
$ wstool merge sawyer_robot/sawyer_robot.rosinstall
$ wstool update

Source ROS Setup

To use ROS Kinetic to use RSDK, use command below:

# ROS Kinetic
$ source /opt/ros/indigo/setup.bash

Build

$ cd ~/ros_ws
$ catkin_make

Configure Robot Communication/ROS Workspace

This step describes the configuration and setup of your ROS environment. This section assumes you have linked your workstation to the robot via Ethernet.

Important Note: Connect to the robot via the ethernet port on the outside of the Controller. Connecting to the ethernet port inside the Controller door will not work (this is a diagnostic port that is only accessible by Rethink Employees).

Ethernet Port.png


See Network Setup for recommended network configurations.

intera.sh ROS Environment Setup

The intera.sh script is a convenience script which allows for intuitive modification of the core ROS environment components. This user edited script will allow for the quickest and easiest ROS setup.

Further information and a detailed description is available on the SDK_Shell page.

Copy the intera.sh script

The intera.sh file already exists in intera_sdk repo, copy the file into your ros workspace.

$ cp ~/ros_ws/src/intera_sdk/intera.sh ~/ros_ws

Customize the intera.sh script

Please edit the intera.sh shell script making the necessary modifications to describe your development PC.

Using your favorite editor (gedit used for example)

$ cd ~/ros_ws
$ gedit intera.sh

Edit the 'robot_hostname' field

Your robot's hostname is defaulted as the Controller's Serial Number and NOT the Robot's Serial Number. The serial number can be located on the back of the robot's controller box. Unless you intend to modify the default Networking configuration, leave the ".local" suffix on the end of the Controller's Serial Number in the robot_hostname.local field.

Edit the 'your_ip' field

Modify where 'your_ip' is either your computer's hostname or the IP address of your PC. We advise against using WiFi connections between your robot and workstation.

 your_ip="192.168.XXX.XXX"

Useful command for identifying your IP address:

$ ifconfig
# Result will be contained in the 'inet addr' field (Ubuntu).

Alternatively, you may choose to use the hostname of your development PC rather than the PC's IP address. For instructions, press Expand on the right.

You may edit the 'your_hostname' field (only if not using 'your_ip'):

 your_hostname="my_computer.local


Important: This hostname must be resolvable to Sawyer. To test if your hostname is resolvable to Sawyer, please visit the development PC Hostname Validation page.

Important: Only set either ROS_IP *OR* ROS_HOSTNAME.

Setting of both ROS_IP and ROS_HOSTNAME will result in ROS_HOSTNAME taking priority, resulting in confusing environment setups. Comment out the unused method using the '#' as leading character.

Verify 'ros_version' field

Verify that the the 'ros_version' field matches the ROS version you are running:

This field will default to "indigo". To use another ROS version, update:

 ros_version="kinetic"
 ros_version="indigo"

Save and Close intera.sh script

Please save and close the intera.sh script.

Initialize your SDK environment

From this point forward, your ROS environment setup should be as simple as sourcing the intera.sh script from the root of your Catkin workspace:

$ cd ~/ros_ws
$ ./intera.sh

Verify Environment

A useful command for viewing and validating your ROS environment setup is:

$ env | grep ROS

The important fields at this point:

ROS_MASTER_URI - This should now contain your robot's hostname.

ROS_IP - This should contain your workstation's IP address.

or

ROS_HOSTNAME - If not using the workstation's IP address, the ROS_HOSTNAME field should contain your PC's hostname. Otherwise, this field should not be available.

Try to get rostopic list from robot by typing following command:

$ rostopic list

You can see the rostopic list from the command line output similar as following:

Rostopic list.png


Setup Rviz

We can also setup Rviz to view robot model, start Rviz from a properly initialized environment using:

$ rosrun rviz rviz

Set the Fixed Frame as /base

Info: The ‘Fixed Frame’ provides a static, base reference for your visualization. Any sensor data that comes in to rviz will be transformed into that reference frame so it can be properly displayed in the virtual world.

Rviz Fixed Frame.png

Add robot model into Rviz by clicking add button, then select robot model in the list, press OK to add.


Rviz Add Model.png


Now you can visualize your robot on Rivz! Next : Hello Robot