Merge branch 'main' of https://github.com/Flowerst-0416/UR_arm_camera…

…_calibration into main

README.md

@@ -5,13 +5,14 @@ This repo combines camera intrinsics, hand-eye and camera-laser extrinsic calibr
 
 ## 0. Installation
 ### 0.1 Environment
-Use Ubuntu 18.04/20.04 with ROS [Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) / [Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
+- Ubuntu 18.04 with ROS [Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu). Comes with Python 2.7 and OpenCV 3.2
+- Ubuntu 20.04 with ROS [Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu). Comes with Python 3.8 and OpenCV 4.2.
 ### 0.2 Dependencies
 1. [blaser_ros Melodic](https://github.com/biorobotics/blaser_mapping/tree/master/blaser_ros) / [blaser_ros Noetic](https://github.com/biorobotics/blaser_mapping/tree/tina/add-ubuntu20-compatibility/blaser_ros)
 2. ximea_ros_cam (Install with the Blaser Dependencies)
 3. [Universal_Robots_ROS_Driver
 ](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver)
-4. MoveIt  Melodic [Tutorials]](http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html)
+4. MoveIt  Melodic [Tutorials](http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html)
 / MoveIt Noetic [Tutorials](https://ros-planning.github.io/moveit_tutorials/)
 5. [apriltag_ros
 ](https://github.com/AprilRobotics/apriltag_ros)
@@ -23,54 +24,13 @@ Follow instructions in 0.3 to install other dependencies
 
 ### 0.3 Build Calibration Workspace 
 
-- ximea_ros_cam
+Download the [install](https://github.com/Flowerst-0416/UR_arm_camera_calibration/blob/main/install) download scrip in the repo
 
-```shell
-cd ~
-mkdir -p ~/calibration_ws/src
-cd ~/calibration_ws/src
-git clone https://github.com/wavelab/ximea_ros_cam.git
-```
-
-- camera_model
-
-Download the folder from this [link](https://drive.google.com/drive/folders/1xBam90TTU8bbKEM8wfbRfDEYF7RcXm7B?usp=sharing), and place it in `~/calibration_ws/src`.
-
-- apriltag
-```shell
-cd ~/calibration_ws/src
-git clone https://github.com/AprilRobotics/apriltag.git
-```
-
-- Build the workspace
-
-```shell
-cd ~/calibration_ws
-catkin build
-```
-
-- Install MoveIt and UR Drivers for MoveIt
-
-```shell
-cd ~/calibration_ws/src
-mkdir ~/calibration_ws/src/src
-cd ~/calibration_ws/src/src
-git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
-git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
-git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
-sudo apt update -qq
-rosdep update
-rosdep install --from-paths src --ignore-src -y
-cd ~/calibration_ws
-catkin build
-```
-
-- Install this calibration repo
+To run the script,
 
 ```shell
-cd ~/calibration_ws/src
-git clone https://github.com/biorobotics/UR_arm_camera_calibration.git
-catkin build
+chmod +x install
+./install
 ```
 
 catkin build several time (mostly three)

install

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+
+## Install script for mutil calibration tool box
+BLASER_DEPENDENCIES=$HOME/blaser_dependencies
+###
+
+mkdir -p $HOME/Calibration_ws/src
+mkdir -p $HOME/blaser_dependencies
+
+# Check ROS version and install Python libraries
+if [[ $ROS_DISTRO == 'melodic'* ]]; then
+  sudo apt-get install -y python-matplotlib python-numpy
+elif [[ $ROS_DISTRO == 'noetic'* ]]; then
+  sudo apt-get install -y python3-matplotlib python3-numpy
+else
+  echo "[ERROR] Unsupported ROS version '${ROS_DISTRO}'"
+  exit 1
+fi
+
+# Install dependencies
+# https://github.com/tbeu/matio
+cd $BLASER_DEPENDENCIES
+git clone git://git.code.sf.net/p/matio/matio
+cd matio
+./autogen.sh
+./configure
+make
+sudo make install
+
+# Install Ceres Solver 1.14
+# http://ceres-solver.org/installation.html
+cd $BLASER_DEPENDENCIES
+wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
+sudo apt-get install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev
+tar zxf ceres-solver-1.14.0.tar.gz
+mkdir ceres-bin
+cd ceres-bin
+cmake ../ceres-solver-1.14.0
+make -j8
+sudo make install
+
+# Install XIMEA camera Linux software package
+# https://www.ximea.com/support/wiki/apis/XIMEA_Linux_Software_Package
+cd $BLASER_DEPENDENCIES
+wget https://www.ximea.com/downloads/recent/XIMEA_Linux_SP.tgz
+tar xzf XIMEA_Linux_SP.tgz
+mv package ximea_linux_sp
+cd ximea_linux_sp
+sudo ./install
+
+## build UR5 robot driver & MOVEIT 
+mkdir $HOME/Calibration_ws/src/src
+cd $HOME/Calibration_ws/src/src
+git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
+git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
+git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
+sudo apt update -qq
+rosdep update
+rosdep install --from-paths src --ignore-src -y
+cd $HOME/Calibration_ws
+catkin build
+
+
+## build Calibration_ws(ximea_ros_cam & apriltag_ros)
+cd $HOME/Calibration_ws/src
+git clone https://github.com/Flowerst-0416/UR_arm_camera_calibration.git
+git clone https://github.com/wavelab/ximea_ros_cam.git
+git clone https://github.com/AprilRobotics/apriltag.git
+cd $HOME/Calibration_ws
+catkin build
+
+##########################################
+# Enable high speed USB and USB permission
+sudo adduser $USER dialout
+# if file /etc/rc.local already exists
+echo 'echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb' | sudo tee -a /etc/rc.local
+# if file /etc/rc.local does not exist
+printf '%s\n' '#!/bin/bash' 'echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb' | sudo tee /etc/rc.local; sudo chmod +x /etc/rc.local
+
+
+
+