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install-ubuntu-18.04.md

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Installation on Ubuntu 18.04

Summary

  1. Install system dependencies
    1.1. Install Ubuntu requested packages
    1.2. Install Iit Butterworth Filter
    1.3. Install ViSP
  2. Install ROS dependencies
    2.1. Install ROS melodic
    2.2. Install vision_visp package
    2.3. Install visp_ros package
    2.4. Install visp_ros_coppeliasim package
  3. Install CoppeliaSim
    3.1. Download CoppeliaSim
    3.2. Build ROSInterface for CoppeliaSim
  4. Run the Franka simulator

1. Install system dependencies

1.1. Install Ubuntu requested packages

  • Update Ubuntu packages

    $ sudo apt-get update
$ sudo apt-get upgrade

  • Install requested 3rd parties for ViSP

    $ sudo apt-get install libopencv-dev libx11-dev liblapack-dev libeigen3-dev \
       libv4l-dev libzbar-dev libpthread-stubs0-dev libjpeg-dev             \
       libpng-dev libdc1394-dev libpcl-dev

  • Install Orocos-kdl needed for inverse and direct robot arm kinematics computation

    $ sudo apt-get install liborocos-kdl-dev

Back to summary.

1.2. Install Iit Butterworth Filter

This filter is needed if data from CoppeliaSim to ROS is noisy. The source code is available here.

To proceed to the installation run:

$ sudo add-apt-repository ppa:berndporr/dsp
$ sudo apt install iir1 iir1-dev

Back to summary.

1.3. Install ViSP

ViSP last release is packaged for ROS, but at the time this tutorial was written, not for melodic distro. Moreover, ViSP last release is not packaged for Ubuntu 18.04.

That's why you have to install VISP from source, following the instructions listed here.

We resume hereafter these instructions:

  • Get ViSP source code

    $ mkdir -p ~/software/visp
$ cd ~/software/visp
$ git clone https://github.com/lagadic/visp.git

  • Create a build forder

    $ mkdir -p visp-build

  • Execute cmake to configure ViSP

    $ cd visp-build
$ cmake ../visp

  • Compile ViSP

    $ make -j4

Back to summary.

2. Install ROS dependencies

2.1. Install ROS melodic

For Ubuntu 18.04, the native version of ROS is melodic. A tutorial on how to easily install ROS melodic on Ubuntu can be found here. Be sure to complete also the first tutorial in order to create a ROS catkin workspace.

At this point we assume that your workspace is in ~/catkin_ws.

Back to summary.

2.2. Install vision_visp package

From this metapackage we need visp_bridge package in order to be able to build visp_ros as described in the next section. To install this package:

  • Clone vision_visp package in the cartkin workspace, and switch to melodic branch

    $ cd ~/catkin_ws/src
$ git clone https://github.com/lagadic/vision_visp.git --branch melodic

  • Build package

    $ source /opt/ros/melodic/setup.bash
$ cd ~/catkin_ws/
$ catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=~/software/visp/visp-build

Back to summary.

2.3. Install visp_ros package

  • Clone visp_ros package in the cartkin workspace

    $ cd ~/catkin_ws/src
$ git clone https://github.com/lagadic/visp_ros.git

  • Build package

    $ source /opt/ros/melodic/setup.bash
$ cd ~/catkin_ws/
$ catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=~/software/visp/visp-build

Back to summary.

2.4. Install visp_ros_coppeliasim package

  • Clone visp_ros_coppeliasim package in the cartkin workspace

    $ cd ~/catkin_ws/src
$ git clone https://github.com/lagadic/visp_ros_coppeliasim.git

  • Build package

    $ source /opt/ros/melodic/setup.bash
$ cd ~/catkin_ws/
$ catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=~/software/visp/visp-build

Back to summary.

3. Install CoppeliaSim

3.1. Download CoppeliaSim

  • Download the last edu version of CoppeliaSim for Ubuntu 18.04 from here (e.g., CoppeliaSim_Edu_V4_1_0_Ubuntu18_04.tar.xz).
  • Extract the archive content in ~/software workspace.
  • At this point you should have CoppeliaSim in ~/software/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04/ folder

Back to summary.

3.2. Build ROSInterface for CoppeliaSim

Since CoppeliaSim comes with a ROSInterface build for ROS melodic there is no need to build ROSInterface.

Back to summary.

4. Run the Franka simulator

In what follows, we assume that CoppeliaSim is located in ~/software/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04, that the ROS package visp_ros_coppeliasim is located in ~/catkin_ws/src, and that we are going to run the file related to IBVS AprilTag synchronization (see folder visp_ros_coppeliasim/src for more details).

To properly run the simulator, you will need three terminals, one for the roscore, one for CoppeliaSim, and one for the ROS node (note that roscore should be started before CoppeliaSim):

  • In terminal 1 run:

    $ source /opt/ros/melodic/setup.bash
$ roscore

  • In terminal 2 run:

    $ source ~/catkin_ws/devel/setup.bash
$ cd ~/software/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04
$ LC_NUMERIC=en_US.UTF-8 ./coppeliaSim.sh

    Now in CoppeliaSim GUI, enter menu "File > Open scene..." and browse to ~/catkin_ws/src/visp_ros_coppeliasim/coppeliasim_scenes folder to select franka_joint_torque_control.ttt

    At this point, in CoppeliaSim GUI you should see the following feedback:

    [sandboxScript:info]   Simulator launched, welcome!
[CoppeliaSim:info]   Default scene was set-up.
[CoppeliaSim:info]   Loading scene ($HOME/catkin_ws/src/visp_ros_coppeliasim/coppeliasim_scenes/franka_joint_torque_control.ttt).  Serialization version is 22.
[CoppeliaSim:info]   File was previously written with CoppeliaSim version 4.01.00 (rev 1)
[CoppeliaSim:info]   Scene opened.
ROS interface was found.

    Be sure that ROS interface is found. If this is not the case, it means:

    • either that you forget to source ~/catkin_ws/devel/setup.bash,
    • either that ROS interface that comes with CoppeliaSim is not compatible with melodic as stated here.

  • In terminal 3 run:

    $ source ~/catkin_ws/devel/setup.bash
$ rosrun visp_ros_coppeliasim ibvs_april_tag_sync

At this point you should be able to see the following in CoppeliaSim GUI:

visp_ros_coppeliasim_gui

Moreover, in the display opened when running ibvs_april_tag_sync node you should also see something similar to:

visp_ros_coppeliasim_visp_display

You need to click in the display to start the visual-servo.

Back to summary.