Vizzy desktop installation
sudo apt-get install openssh-server openssh-client
sudo apt-get install coinor-libipopt-dev
sudo apt-get install libgtkmm-2.4-dev
sudo apt-get install git
Follow steps from: http://wiki.ros.org/kinetic/Installation/Ubuntu
git clone https://github.com/robotology/cfw002.git
Follow the instructions in README.md
Then you need to add the driver script to the /etc/rc.local:
sudo gedit /etc/rc.local
and add:
<path to cfw repository>/cfw002/load_script/S20_cfw002.sh
Create the file /home/vizzy/.bash_env with the following text
export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin
Invoke the above file from the /home/vizzy/.bashrc script
source ~/.bash_env
sudo apt-get install git cmake cmake-curses-gui libeigen3-dev libace-dev libedit-dev
sudo apt-get install qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev \
qtdeclarative5-qtquick2-plugin qtdeclarative5-window-plugin \
qtdeclarative5-qtmultimedia-plugin qtdeclarative5-controls-plugin \
qtdeclarative5-dialogs-plugin libqt5svg5 libgsl0-dev sudo qml-module-qtquick-* qml-module-qtmultimedia
(gsl was missing, check this for xenial: http://www.icub.org/ubuntu/dists/xenial/contrib/science/binary-amd64/Packages)
In the folder /home/vizzy/repositories
git clone https://github.com/robotology/yarp.git
cd yarp
mkdir build
cd build
ccmake ../
Hit c, then e (if needed), and change the following flags (setting all of them to ON):
CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
Hit c again and set the following flags to ON:
ENABLE_yarpcar_bayer_carrier <-- NÃO ESTAVA LÁ. SÓ O yarpcar_bayer É QUE ESTAVA!
ENABLE_yarpcar_mjpeg
ENABLE_yarpcar_rossrv_carrier <-- O MESMO QUE ACIMA
ENABLE_yarpcar_tcpros_carrier <-- O MESMO QUE ACIMA
ENABLE_yarpcar_xmlrpc_carrier <-- O MESMO QUE ACIMA
ENABLE_yarpmod_serial
Hit c twice in a row, then g and issue
make -j$(nproc)
where $(nproc) is automatically converted to the number of CPU cores/threads available.
In the folder /home/vizzy/repositories do
git clone https://github.com/robotology/icub-firmware-shared.git
cd icub-firmware-shared
mkdir build-vizzy-desktop && cd build-vizzy-desktop
ccmake ../
Hit c twice in a row, then g and issue
make
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../
Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient (ESTE NÃO ESTÁ LÁ!)
ENABLE_icubmod_gazecontrollerclient
ENABLE_icubmod_cfw2can
ENABLE_icubmod_parametricCalib
ENABLE_icubmod_sharedcan
ENABLE_icubmod_canmotioncontrol
ICUB_USE_icub_firmware_shared
ICUB_USE_IPOPT
Hit c, then you have to provide the location of the cfw-002 API directory with the value
/lib/modules/4.10.0-37-generic/iCubDrivers/cfw002/LinuxDriver/API
Then modify the file ~/icub-main/src/libraries/icubmod/cfw2Can/Cfw2Can.h and ~/icub-main/src/libraries/icubmod/cfw2Can/Cfw2Can.cpp, changing the include line
#include "libcfw002.h"
to the following:
#include "/lib/modules/4.10.0-37-generic/iCubDrivers/cfw002/LinuxDriver/API/libcfw002.h"
Then hit c again and g, and issue
make -j$(nproc)
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots <- NADA DISTO APARECE...
default
vizzy
By Pedro Vicente: edit ~/.bash_env so that it becomes like this:
export YARP_ROOT=/home/vizzy/repositories/yarp export YARP_DIR=$YARP_ROOT/build export YARP_ROBOT_NAME=vizzy export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build export ICUB_ROOT=/home/vizzy/repositories/icub-main export ICUB_DIR=$ICUB_ROOT/build export VIZZY_YARP_ICUB_ROOT=/home/vizzy/catkin_ws/src/vizzy/vizzy_yarp_icub export VIZZY_YARP_ICUB_DIR=$VIZZY_YARP_ICUB_ROOT/build export ICUBcontrib_DIR=/home/vizzy/repositories/icub-contrib-common/build export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$ICUBcontrib_DIR/share/ICUBcontrib:$VIZZY_YARP_ICUB_DIR/share/yarp export YARP_COLORED_OUTPUT=1 export YARP_FORWARD_LOG_ENABLE=1 export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin:$ICUBcontrib_DIR/bin:$VIZZY_YARP_ICUB_DIR/bin
Don't forget to source:
source ~/.bashrc
In the repositories folder, download the icub-contrib-common repository, compile and install:
cd ~/repositories
git clone https://github.com/robotology/icub-contrib-common.git
cd icub-contrib-common && mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=$(echo $ICUBcontrib_DIR) ..
make install
Download the robots-configuration repository, too. Compile and install:
cd ~/repositories
git clone https://github.com/robotology/robots-configuration.git
mkdir build && cd build
cmake ../
make install
Now, if you issue the command
yarp-config robot --list
you should get
**LOCAL USER DATA:
* Directory : /home/vizzy/.local/share/yarp/robots
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-contrib-common/build/share/ICUBcontrib/robots
default
vizzy
Set the namespace with this command:
yarp namespace /vizzy_ns
After that, the command yarp namespace should report:
YARP namespace: /vizzy_ns
and the command yarp where should report:
Looking for name server on 10.10.1.80, port number 10000
If there is a long delay, try:
yarp conf --clean
After following the steps on https://github.com/vislab-tecnico-lisboa/vizzy you need to compile Vizzy's yarp code.
First install the required package:
sudo apt-get install ros-kinetic-serial
Install http://segwayrmp.github.io/libsegwayrmp/, using the serial library from https://github.com/wjwwood/serial
Download and compile the segway_rmp packate to your catkin_ws/src
git clone https://github.com/segwayrmp/segway_rmp.git
catkin_make
Add vizzy user to the dialout group (for laser and segway)
sudo adduser vizzy dialout
Change the persmissions of the USB port of the segway and the lasers
sudo chmod 666 /dev/ttyUSB0
sudo chmod 666 /dev/ttyACM* (0-1)
sudo apt-get install ros-kinetic-urg-node
Commit 7752af0 now runs the urg-node ROS package
Global user configuration
git config --global user.email [email protected]
git config --global user.name "VisLab Tecnico Lisboa"
Aliases for commits, are defined in the file ~/.bash_aliases
git-commit-as-<github username>='git commit --author="Name surname <email-github-account>"'
-
Install the camera driver
tar -xvf uEye-Linux-4.90-64.tgz sudo ./ueyesdk-setup-4.90-usb-amd64.gz.run sudo /etc/init.d/ueyeusbdrc start -
Install the ROS interface
git clone https://github.com/anqixu/ueye_cam.gitCompile the driver
Follow the instructions in Realsense2 camera installation
- Install opencv 3.2 from sources
- Compile caffe in openpose and openpose
