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Rodrigo Serra edited this page Nov 28, 2023 · 1 revision

Install Ubuntu 16.04

http://releases.ubuntu.com/16.04/

Install initial pkgs

sudo apt-get install git

Only for the robots and the server:

sudo apt-get install ssh

Generate ssh keys

ssh-keygen -t rsa -b 4096 -C "username@mail.com"
cat ~/.ssh/id_rsa.pub

copy that key into your gitlab account

Setup scripts structure

cd ~ && git clone http://dante.isr.tecnico.ulisboa.pt/socrob_at_home/scripts.git
cd ~/scripts/fresh_installation_useful_scripts/ && ./install_recommended_pkgs.sh
echo "# personal configuration starts here" >> ~/.bashrc
echo "source ~/scripts/permanent.sh" >> ~/.bashrc

Select gnome as default terminal

sudo update-alternatives --config x-terminal-emulator

select 1 then press enter

Enhance git with colors and nice macros

cp ~/scripts/fresh_installation_useful_scripts/gitconfig.txt ~/.gitconfig
nano ~/.gitconfig

Edit your username and mail

ROS Kinetic installation

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:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full -y
sudo rosdep init
rosdep update
sudo apt-get install python-rosinstall -y
source /opt/ros/kinetic/setup.bash

Setup SocRob environment

mkdir -p ~/ros_ws/src
cd ~/ros_ws
sudo apt-get install python-catkin-tools -y
catkin init
catkin build
cd ~/ros_ws/src
git clone http://dante.isr.tecnico.ulisboa.pt/socrob_at_home/isr_monarch_robot.git
cd isr_monarch_robot/
./repository.debs 
source ~/ros_ws/devel/setup.bash
cd  ~/ros_ws/
catkin build -c

In case of compilation errors in the last command, report them to the older members. Some package may not compile, but it may be outdated packages that you don't need.

Setup on the robot

These instructions are only to be followed on the robot.

  • During the Ubuntu installation, set the user to socrob, and the hostname to mbot05n or mbot07n depending on the robot.

  • Create the file ~/ip.txt, containing the IP address the robot should use for ROS_MASTER_URI and ROS_IP environment variables. Currently these IP addresses are 10.2.0.23 (mbot5) and 10.2.0.21 (mbot7). Check the environment variables MBOT_IP and MBOT_IP_7 (defined in ~/scripts/alias.sh) to make sure they match.

  • Setup the robot's router following this page, if needed (only needed after resetting the routers).

  • Install udev rules by executing:

cd ~/scripts/udev_rules/
./install_udev_rules.sh

If some devices/boards do not work after executing the script and reconnecting them, you may need to update the udev rules, following the instructions in this page.

  • For Astra and Asus cameras (and probably other camera models), the camera id must be set in the launchfile of their package. Check this page to know how to set the camera id, in case a camera doesn't work or the images are switched between cameras (e.g., if the head_camera topics show images from the neck camera).

  • Install GPU drivers and CUDA: CUDA gpu setup

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