Indigo PC Setup


1. Contact

Please email Christina Gomez with questions, changes, or suggestions for this page: cgomez@swri.org

2. System Options

There are two options for utilizing the ROS-Industrial training materials. The first (highly recommended) option is to utilize a pre-configured virtual machine. The second option is to install a native ubuntu machine with the required software. The virtual machine approach is by far the easiest option and ensures the fewest build errors during training but is limited in it's ability to connect to certain hardware, particularly over USB (i.e. kinect-like devices). For the perception training a .bag file is provided so that USB connection is not required for this training course.

2.1. Virtual Machine Configuration (Recommended)

The VM method is the most convenient method of utilizing the training materials. If you run into any issues, see the following section for hints on how to overcome common issues.

  1. Download virtual box here

  2. Download image here

  3. Import image into virtual box using theseinstructions

  4. Start virtual machine
  5. Log into virtual machine, user: ros-industrial, pass: rosindustrial (no spaces or hyphens)

  6. Pull in the latest updates from the industrial training repository (from the terminal)

cd ~/industrial_training
git pull origin
git checkout indigo-devel

2.2. Virtual Machine for Advanced Track

The VM method is the most convenient method of utilizing the training materials. If you run into any issues, see the following section for hints on how to overcome common issues. Follow instructions as above.

  1. Download image here

  2. Import image into virtual box using theseinstructions

  3. Start virtual machine
  4. Log into virtual machine, user: ros-industrial, pass: rosindustrial (no spaces or hyphens)

  5. Pull in the latest updates from the industrial training repository (from the terminal)

cd ~/catkin_ws/src/industrial_calibration_tutorials
git checkout hydro-devel
git pull origin
cd ~/catkin_ws/src/industrial_pcl
git checkout hydro-devel
git pull origin

2.2.1. Limitations of Virtual Box

The virtual box is limited both in hardware capability(due to VM limitations) and package installs (to save space). Kinect based demos aren't possible due to USB limitations. Additional packages may be installed after downloading the VM, see here.

2.2.2. Common VM Issues

On most new systems, Virtual Box and VMs work out of the box. The following is a list of issues others have encountered and solutions:

2.3. PC Configuration (NOT Recommended)

Ubuntu Linux 14.04 (Trusty Tahr) LTS

2.3.1. Non-ROS Software Installation

The following packages utilities or software packages will be utilized as part of the training course material, but are not explicitly ROS packages.

  1. Meld - Diff viewer: sudo apt-get install meld

  2. Gedit - Text editor(typically already installed): sudo apt-get install gedit

  3. Eclipse - Software IDE (optional): Follow installation instructions here

Once installed these software packages can be found by clicking on the Dash Home (icon at the top-left corner of the screen) and entering their name. Once launched, it is helpful to lock the application to your launcher. This is simply done by right-clicking the application icon on the left hand side of the screen and selecting lock to launcher. For more info, see here

2.3.2. ROS Software Installation

ROS-Indigo must be installed. Follow the directions here. Be sure to install the ros-indigo-desktop-full version.

Once ROS-Indigo has been installed using the directions above, additional ROS packages must also be installed. Run the following command:

sudo apt-get install ros-indigo-industrial-* ros-indigo-moveit-full ros-indigo-openni-* ros-indigo-rtt-ros-integration python-wstool

You can install in the order listed. If you are uncertain about whether a package is already installed, you can always sudo apt-get install it again. If it is already installed, you should see something like this:

Reading package lists... Done
Building dependency tree       
Reading state information... Done
<your package name here e.g., ros-indigo-desktop-full> is already the newest version.

2.3.3. Check Out the Code from GitHub

Clone the industrial training repository into your home directory and build it:

cd
git clone https://github.com/ros-industrial/industrial_training.git
cd industrial_training
git checkout indigo-devel

2.3.4. Modify the ~.bashrc

A training units bash file must be added to the ~.bashrc file using the following:

echo "source $HOME/industrial_training/training/.training_units.bash" >> ~/.bashrc
source ~/.bashrc

NOTE: This addition assumes that the industrial training repo was cloned in the $HOME directory. If you clones the repo in another directory, you will have to change the addition to the .bashrc file to reflect this different repository location

2.3.5. Configuration Check

The following is a quick check to ensure that the appropriate packages have been installed and the training unit bash add-ons correctly sourced. Enter the following into the terminal:

training_unit 1.1

The terminal should show the following (or something very similar):

  Switching to UNIT 1.1 (work copy)

ros-industrial@ROS:~/industrial_training/training/work/1.1$ 

The training_unit command sets the current training unit (to 1.1 in this case) and changes into the appropriate directory.

3. Explanation of File System Layout

To support the training exercises, the following filesystem layout has been created. Please place all code and configuration files for your exercises into the appropriate spots in this layout:

~/industrial_training/training/
           orig/      (READ-ONLY.  background code/config provided at the START of this exercise)
               1.1/     (Day 1 AM, first exercise)
               1.2/     (Day 1 AM, second exercise)
               2.1/     (Day 1 PM, first exercise)
               ...
           
           ref/       (Completed exercises.  To use as reference, if you require help.)
               1.1/
               ...

           supplements/    (supplemental package directory, contains common files for training exercises)
           
           work/      (Working directory for exercises.  Initially a clone of "orig" directory. To reset an exercise, retrieve from the /orig folder.)
               1.1/
               ...

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Indigo PC Setup (last edited 2016-04-04 20:35:04 by JonathanMeyer)

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