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INSTALL.md

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Install 3dpatrolling

Please, before reading this file, read the main README.md file.

Prerequisites

We designed and tested the framework under Ubuntu 14.04. We recently ported the framework in Ubuntu 16.04 (limited testing was performed here). In any case, it should be easy to compile the framework in other platforms.

Quick start

Starting from the root folder of this repo, run the following commands:

  • install V-REP and ROS dependencies $ ./install.sh
  • compile all the workspaces $ ./compile-all.sh
  • you can use the following command to clean the workspaces $ ./clean-all.sh
  • source the workspaces by using $ source source-all.bash

Now, you're ready to test the patrolling system or the path planner (see the main README.md file).

You can find below some manual installation steps. Please, consider that you can find the same commands wrapped for you inside the above installation/compilation scripts.

Manually install necessary tools and ROS dependencies

Below you can find some required installation steps. Please, consider that these are wrapped for you inside the installation scripts.

$ rosdep install --from-paths mapping_ws/src --ignore-src -r
$ rosdep install --from-paths patrolling_ws/src --ignore-src -r
  • these are some required packages
sudo apt-get install -y python-rosinstall
sudo apt-get install -y ros-$ROS_DISTRO-octomap-mapping ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-octomap-server
sudo apt-get install -y ros-$ROS_DISTRO-move-base-msgs 
sudo apt-get install -y ros-$ROS_DISTRO-move-base
sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs 
sudo apt-get install -y ros-$ROS_DISTRO-tf2
sudo apt-get install -y ros-$ROS_DISTRO-joy
sudo apt-get install -y ros-$ROS_DISTRO-navigation
sudo apt-get install -y sox
sudo apt-get install -y doxygen

N.B. every time you have a failure with a [package-name] you can run $ rosdep install [package-name] this automatically dowloads and installs system dependancies for the package [package-name] at hand.

Manual V-REP install

Below you can find some required installation steps. Please, consider that these are wrapped for you inside the installation scripts.

  1. Download version 3.2.2 (tested) from here
    http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_2_2_64_Linux.tar.gz
    http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz
    http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz

  2. You don't need to compile anything. Just extract the files in your V-REP installation folder and you are ready to execute the main launcher (vrep.sh) from there.

  3. Set the environment variable VREP_ROOT_DIR: add in your .bashrc the following line
    export VREP_ROOT_DIR=<absolute path of your V-REP installation folder (which contains the launcher vrep.sh)>
    for instance
    export VREP_ROOT_DIR=/usr/local/V-REP_PRO_EDU_V3_2_2_64_Linux
    export VREP_ROOT_DIR=/usr/local/V-REP_PRO_EDU_V3_3_2_64_Linux
    export VREP_ROOT_DIR=/usr/local/V-REP_PRO_EDU_V3_5_0_Linux

  4. Once you have updated and compiled the tradr-simulation stack, you have to copy the lib patrolling_ws/devel/lib/libv_repExtRos.so in the installation folder VREP_ROOT_DIR (NOTE: this lib enables V-REP to get and parse track-velocity command messages)

Note: at present time, V-REP 3.3 does not work with our framework. Please, use V-REP 3.2.2. We will fix the current issues (UGV model scripts and V-REP 3.3) ASAP. At present time V-REP 3.5 seems to correctly work. In the different scenes, UGV script has been fixed in order to properly work. If you find a scene that does not correctly work, please, check that the contained UGV scripts have the jaco arm lines commented (compare with this script).

Test V-REP installation

You can test if V-REP is correctly installated by running the following commands: $ cd $VREP_ROOT_DIR
$ sh vrep.sh

Note: the environment variable should have been set for you by the install script install.sh inside ~/.bashrc.

In order to check if the TRADR UGV model is correctly managed, run from the root folder of the 3dpatrolling repo: $ source source-all.bash
$ roslaunch vrep_ugv_simulation vrep_ugv_simulation.launch
Once the V-REP main window shows up, press the play button.
You can then shut down all the nodes by running
$ rosrun path_planner kill_vrep_sim

Robots do not show up in RVIZ

If robots do not appear in RVIZ, you can easily solve this issue by running in your shell:
$ export LC_NUMERIC="en_US.UTF-8"

Now, this command has been hadded in the source-all scripts. For further details, see this page.