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INSTALL.md

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How to install the corobot code on a fresh laptop

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  • Install Ubuntu 16.04 (including latest updates)

  • Install ros-kinetic-desktop per wiki.ros.org/Installation

  • Install other ROS packages:

      sudo apt-get install ros-kinetic-freenect-launch ros-kinetic-map-server ros-kinetic-turtlebot

  • Patch /opt/ros/kinetic/lib/create_node/turtlebot_node.py by adding c._robot_run_passive() at the end of main()

  • Install zbar

      sudo apt-get install autoconf python-gtk2-dev v4l-utils gettext git xmlto acpi
  cd /usr/local/src
  sudo git clone https://github.com/corobotics/ZBar.git zbar
  cd zbar
  sudo autoreconf --install
  sudo ./configure --without-imagemagick --without-gtk --without-qt
  sudo make
  sudo make install

  echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
  echo "export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libv4l/v4l1compat.so" >> ~/.bashrc

  • Install opencv (for face recognition)

    • Download source from here into /usr/local/src/opencv

    • Also get opencv-contrib and compile them together

        cd /usr/local/src
  sudo git clone https://github.com/opencv/opencv_contrib.git opencv-contrib
  cd opencv
  sudo mkdir build
  cd build
  sudo cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv-contrib/modules  ..
  sudo make -j5
  sudo make install

  • Install udev rules for create, cameras - in /etc/udev/rules.d

    • Start with neither webcam plugged in, then plug the left one in. Should be at /dev/video1
    • Run udevadm info -q all /dev/video1 | grep SERIAL
    • There should be an 8-digit hex number there (part or all of the serial number)
    • Put the serial number into the following line (replacing xxxx) : KERNEL=="video*", ATTRS{serial}=="xxxx", SYMLINK+="videoleft" MODE="0666" This goes in the file /etc/udev/rules.d/10-video.rules
    • Repeat for the right camera
    • /etc/udev/rules.d/52-corobot.rules: contents are SUBSYSTEMS=="usb", ATTRS{idProduct}=="2303", ATTRS{idVendor}=="067b", MODE="666", GROUP="corobot"

  • Install corobot software:

      mkdir ~/corobot_ws
  cd ~/corobot_ws
  git clone https://github.com/corobotics/corobot-kinetic.git src
  catkin_make
  echo "source ~/corobot_ws/devel/setup.bash" >> ~/.bashrc