Installation

This page documents the installation process required for the igus Humanoid Open Platform ROS software release.

Dependencies

• Ubuntu 14.04 LTS (anything else and you are on your own)
• Suggested kernel: Xenial Xerus

  sudo apt-get install linux-generic-lts-xenial

• ROS Indigo:

  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
  sudo apt-get update
  sudo apt-get install ros-indigo-desktop-full
  sudo rosdep init
  rosdep update
  sudo apt-get install ros-indigo-rqt-rviz
  sudo apt-get install ros-indigo-joy

• The QGLViewer library:

  sudo apt-get install libqglviewer-dev

• GNU Scientific Library (GSL):

  sudo apt-get install libgsl0-dev

• Controllers for Gazebo:

  sudo apt-get install ros-indigo-gazebo-ros-control
  sudo apt-get install ros-indigo-ros-controllers
  sudo apt-get install ros-indigo-controller-manager
  sudo apt-get install ros-indigo-rqt-controller-manager

• Vision packages:

  sudo apt-get install v4l-utils v4l2ucp v4l-conf
  sudo add-apt-repository ppa:pj-assis/ppa
  sudo apt-get update
  sudo apt-get install guvcview

• Python dependencies:

  sudo apt-get install sshpass
  sudo apt-get install python-pip python-dev build-essential
  sudo pip install --upgrade pip
  sudo pip install --upgrade virtualenv
  sudo pip install --upgrade --no-deps --force-reinstall pexpect
  sudo pip install termcolor

• ncurses Library:

  sudo apt-get install libncurses5-dev

• x264 Library:

  sudo apt-get install libx264-dev

• GCC ARM Compiler:

  sudo apt-get install gcc-arm-none-eabi

• Doxygen Documentation System:

  sudo apt-get install doxygen

• Utilities (optional, choose relevant ones):

  sudo apt-get install curl tshark ssh screen
  sudo apt-get install git git-gui gitk qgit
  sudo apt-get install joe vim nano kwrite kdiff3 colordiff kompare
  sudo apt-get install gdb valgrind tree htop

Installation

Place the following into your .bashrc:

source /opt/ros/indigo/setup.bash
source ~/NimbRo-OP/src/nimbro/scripts/env.sh # Or alternate path

export NIMBRO_ROBOT_TYPE=P1
export NIMBRO_ROBOT_NAME=xs0
export NIMBRO_ROBOT_VARIANT=nimbro_op_hull

Clone our repository:

git clone https://github.com/AIS-Bonn/humanoid_op_ros ~/NimbRo-OP

System setup

The robotcontrol node needs realtime permissions to run reliably. Create a file /etc/security/limits.d/nimbro.conf with contents (replace USER with your username):

*    hard rtprio 0
*    soft rtprio 0
USER hard rtprio 20
USER soft rtprio 20

You will need to log out and in again to load the security settings. Alternatively, you can use the following to emulate the login:

sudo -i -u user

If you want to set up udev rules for devices you want to use, then refer to:

src/nimbro/scripts/set_camera.py
src/nimbro/scripts/set_cm7X0.py

For installation and deployment of the required files to the robots, a special installation folder is required:

sudo mkdir -p /nimbro
sudo chown $USER /nimbro

A logging and backup directory is also required:

sudo mkdir -p /var/log/nimbro
sudo chmod 777 /var/log/nimbro

For everything to work properly you may also need to modify the first two lines of your /etc/hosts to something like this, where mycomp is the name of your computer:

127.0.0.1       localhost
127.0.1.1       mycomp mycomp.local

The nimbro utility

The nimbro utility (present once the env.sh script is sourced, e.g. in your .bashrc) can help you in your daily work. Type nimbro help for usage information. The command source is, as mentioned, in the env.sh script. Start by compiling the source code using the following command:

nimbro make

Here are a few examples of use of the nimbro tool:

nimbro                  # Go to the nimbro root directory
nimbro doc              # Open the nimbro source documentation
nimbro source           # Go to the nimbro source directory
nimbro src              # Go to the nimbro source directory
nimbro src nim          # Go to the nimbro source directory
nimbro src rob          # Go to the nimbro_robotcontrol source directory
nimbro src vis          # Go to the nimbro_vis source directory
nimbro make             # Build the framework
nimbro make tests       # Build the framework unit tests
nimbro make run_tests   # Build and run the framework unit tests
nimbro clean            # Clean all build products and temporary files
nimbro remake-all       # Delete the devel and build folders and recompile the framework
nimbro make-doc         # Generate the source code documentation
nimbro make-docv        # Generate the source code documentation (verbose)
nimbro make-doc open    # Generate the source code documentation and attempt to open it
nimbro deploy           # Build the framework and copy the installed files to the robot
nimbro deploy xs4.local # Deploy to the xs4 robot (may not be the set robot)
nimbro host xs4.local   # Set xs4 as the target robot and the ROS master
nimbro ssh              # Open a ssh shell to the set robot
nimbro help             # Display help for the nimbro tool