This repository contains the scripts used by the SUTURO bachelor and master projects for Continuous Integration purposes. But this repository also contains scripts that can be used to setup a full development PC.
sudo apt install wget
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo sh -c 'echo "deb https://packages.hsr.io/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/tmc.list'
sudo sh -c 'echo "deb https://packages.hsr.io/tmc/ubuntu `lsb_release -cs` multiverse main" >> /etc/apt/sources.list.d/tmc.list'
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo sh -c 'echo "deb https://apache.bintray.com/couchdb-deb `lsb_release -cs` main" > /etc/apt/sources.list.d/couchdb.list'
wget https://hsr-user:[email protected]/tmc.key -O - | sudo apt-key add -
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
wget https://couchdb.apache.org/repo/bintray-pubkey.asc -O - | sudo apt-key add -
sudo sh -c 'mkdir -p /etc/apt/auth.conf.d'
sudo sh -c '/bin/echo -e "machine packages.hsr.io\nlogin hsr-user\npassword jD3k4G2e" >/etc/apt/auth.conf.d/auth.conf'
# We want couchdb configured without a preset
sudo echo "couchdb couchdb/mode select none" | sudo debconf-set-selections
sudo apt update
sudo apt-get install -y cmake g++ unzip libboost-all-dev libopenblas-dev libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libhdf5-serial-dev protobuf-compiler the python-dev libgflags-dev libgoogle-glog-dev liblmdb-dev python-pip python3-pip ros-melodic-desktop-full python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep ros-melodic-tmc-desktop-full ros-melodic-roslisp-repl rapidjson-dev automake libxerces-c-dev libicu-dev libapr1-dev mongodb openjdk-8-jdk libatlas-base-dev liblapack-dev libblas-dev ros-melodic-costmap-2d ros-melodic-cl-tf2 libjson-glib-dev
sudo -H pip install future protobuf tinyrpc==0.9.4 pyzmq pybullet==3.0.6 scipy==1.2.2 casadi sortedcontainers hypothesis==4.34.0 pandas==0.24.2 numpy==1.16
sudo -H pip3 install simplenlg http://www.jbox.dk/sling/sling-2.0.0-py3-none-linux_x86_64.whl tinyrpc==0.9.4 pyzmq
To see your currently installed version:
mongo --eval 'db.runCommand({ connectionStatus: 1 })'
If you see exception connection failed your mongodb server service is not running (run: sudo systemctl start mongod.service). If the command does not exist, follows these steps as well.
Stop mongod service if it is runnning.
sudo systemctl stop mongod.service
purge(/ hard uninstall) mongodb installs
sudo apt-get purge mongo*
add apt keys
curl -fsSL https://www.mongodb.org/static/pgp/server-4.4.asc | sudo apt-key add -
echo "deb [ arch=amd64,arm64 ] https://repo.mongodb.org/apt/ubuntu bionic/mongodb-org/4.4 multiverse" | sudo tee /etc/apt/sources.list.d/mongodb-org-4.4.list
sudo apt-get update # You should see OK:9 https://repo.mongodb.org/apt/ubuntu bionic/mongodb-org/4.4 Release
Install and test
sudo apt install mongodb-org
# Test start mongo server service
sudo systemctl start mongod.service
sudo systemctl status mongod
# You should see: active (running) highlighted in green
# if so check your MongoDB Version again:
mongo --eval 'db.runCommand({ connectionStatus: 1 })'
# Should be 4.4.5 or higher
# if so:
sudo systemctl enable mongod
If sudo systemctl status mongod says failed: Multiple things might be the cause
+No /data/db folder
mkdir -p /data/db
+Broken config file
# Try running:
/usr/bin/mongod --config /etc/mongod.conf
# If it fails:
/usr/bin/mongod
# If running without a config works, create a backup of the original config and create a new empty one
sudo mv /etc/mongod.conf /etc/mongod.conf.backup
sudo touch /etc/mongod.conf
+Wrong permissions
ls -l /var/lib/mongodb
# These files should be owned by mongodb not root
# to change that run:
chown -R mongodb:mongodb /var/lib/mongodb
+try repairing the db
sudo rm /var/lib/mongodb/mongod.lock
mongod --repair
Create a SUTURO folder in your home. In this folder you should clone this repository.
cd ~
mkdir SUTURO
cd SUTURO
git clone https://github.com/SUTURO/suturo_ci.git
Your filestructure should now look like this:
~
│
└───SUTURO
│ │
│ └───suturo_ci
│ │
│ └───setup
│ └───installation_scripts
│ └───...
│
...
Staying in ~/SUTURO
source suturo_ci/setup/opencv/install.sh
Your filestructure should now look like this:
~
│
└───SUTURO
│ │
│ └───suturo_ci
│ │ │
│ │ └───setup
│ │ └───installation_scripts
│ │ └───...
│ │
│ └───opencv
│ │
│ └───opencv-4.5.1
│ └───opencv_contrib-4.5.1
│
...
Staying in ~/SUTURO
source suturo_ci/setup/caffe/install.sh
Your filestructure should now look like this:
~
│
└───SUTURO
│ │
│ └───suturo_ci
│ │ │
│ │ └───setup
│ │ └───installation_scripts
│ │ └───...
│ │
│ └───opencv
│ │ │
│ │ └───opencv-4.5.1
│ │ └───opencv_contrib-4.5.1
│ │
│ └───caffe
│ │
│ └───caffe-master
│
...
Still in $HOME (~) Download bvlc_reference_caffenet.model used by perception and save it in $HOME.
python caffe/caffe-master/scripts/download_model_binary.py caffe/caffe-master/models/bvlc_reference_caffenet/
cp caffe/caffe-master/models/bvlc_reference_caffenet/bvlc_reference_caffenet.caffemodel ~
Your filestructure should now look like this:
~
|
│ bvlc_reference_caffenet.caffemodel
|
└───SUTURO
│ │
│ └───suturo_ci
│ │ │
│ │ └───setup
│ │ └───installation_scripts
│ │ └───...
│ │
│ └───opencv
│ │ │
│ │ └───opencv-4.5.1
│ │ └───opencv_contrib-4.5.1
│ │
│ └───caffe
│ │
│ └───caffe-master
│
...
This will create a SUTURO_WSS folder with a the dependencies inside it. This will also move the caffe model to the correct location.
THIS WILL TAKE ATLEAST 30-60min
Robosherlock is build using one Thread to fix crashes
This script does not stop when catkin build fails it will continue with the other workspaces.
source suturo_ci/installation_scripts/build.sh
~
|
│ bvlc_reference_caffenet.caffemodel
|
└───SUTURO
│ │
│ └───suturo_ci
│ │ |
│ │ ...
│ │
│ └───opencv
│ │ |
│ │ ...
│ │
│ └───caffe
│ │ |
│ │ ...
│ │
│ └───SUTURO_WSS
│ |
│ └───dependencies_ws
│ └───knowledge_ws
│ └───manipulation_ws
│ └───navigation_ws
│ └───perception_ws
│ └───planning_ws
│
...
After these steps every Workspace has its packages downloaded and build once.
When the installation of ros-melodic-tmc-desktop-full fails:
sudo apt update && sudo apt install -y curl apt-transport-https gnupg
curl https://couchdb.apache.org/repo/keys.asc | gpg --dearmor | sudo tee /usr/share/keyrings/couchdb-archive-keyring.gpg >/dev/null 2>&1
source /etc/os-release
echo "deb [signed-by=/usr/share/keyrings/couchdb-archive-keyring.gpg] https://apache.jfrog.io/artifactory/couchdb-deb/ ${VERSION_CODENAME} main" | sudo tee /etc/apt/sources.list.d/couchdb.list >/dev/null
sudo apt update
sudo apt install -y couchdb
When catkin build fails with prolog _pkg_check_modules_internal in SUTURO_WSS/knowledge_ws/src try:
rosdep install --from-paths knowrob/ --ignore-src
When knowledge starts with the error:
'$open_shared_object'/3: libjvm.so: cannot open shared object file: No such file or directory
Try:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/jvm/java-11-openjdk-amd64/lib/server