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0) Ubuntu LTS 18.04
- Install Ubuntu by following these two links:
https://ubuntu.com/download/desktop
https://www.youtube.com/watch?v=u5QyjHIYwTQ
- username=hvh
sudo apt-get install apt-file
sudo apt-file update
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1) Visual Studio Code
- Install vscode by following this link :
https://linuxize.com/post/how-to-install-visual-studio-code-on-ubuntu-18-04/
- Fix error 'multiple times' :
sudo rm /etc/apt/sources.list.d/vscode.list
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2) Latex VSCode
- Install texlive-full
sudo apt-get install texlive-full
- Add extension VScode -> Latex Workshop extension
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3) Oh My Zsh
- Install Oh My Zsh by following this link :
https://dev.to/mskian/install-z-shell-oh-my-zsh-on-ubuntu-1804-lts-4cm4
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4) Github
- Command-lines:
git init
git status
git add .
git commit -m "1st commit"
git remote add origin https://github.com/huynhvuh/multi_robots_task_allocation.git
git remote -v
git fetch origin master:tmp
git rebase tmp
git push origin HEAD:master
git branch -D tmp
git fetch origin master
git pull origin master
git add .
git commit -m "1st commit"
git remote add origin https://github.com/huynhvuh/multi_robots_task_allocation.git
git remote -v
git push origin master
git clone https://github.com/huynhvuh/multi_robots_task_allocation.git
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5) Miniconda env = MRTA
- Install Miniconda by following these two links:
https://docs.conda.io/en/latest/miniconda.html
https://conda.io/projects/conda/en/latest/user-guide/install/linux.html
- Create MRTA env:
conda create -n MRTA python=2.7
- Install required packages:
conda install -c conda-forge rospkg -n MRTA
conda install -c sotte empy -n MRTA
conda install -c conda-forge defusedxml -n MRTA
conda install -c miniconda numpy -n MRTA
conda install -c miniconda pyqtgraph -n MRTA
conda install -c miniconda yaml -n MRTA
conda install -c miniconda pycryptodomex -n MRTA (for fake_joint_calibration)
conda install -c conda-forge python-gnupg -n MRTA (for fake_joint_calibration)
conda install -c conda-forge matplotlib -n MRTA
- Add activation to .bashrc/.zshrc:
If bash:
echo "conda activate MRTA" >> ~/.bashrc
If zsh:
echo "conda activate MRTA" >> ~/.zshrc
- Add shebang to python files:
#!/home/hvh/miniconda3/envs/MRTA/bin/python
- Fully uninstall conda:
+ Remove all conda-related files and directories using the Anaconda-Clean package
conda activate your_conda_env_name
conda install anaconda-clean
anaconda-clean # add `--yes` to avoid being prompted to delete each one
+ Remove your entire conda directory
rm -rf ~/miniconda3
+ Remove the line which adds the conda path to the PATH environment variable
vi ~/.bashrc
# -> Search for conda and delete the lines containing it
# -> If you're not sure if the line belongs to conda, comment it instead of deleting it just to be safe
source ~/.bashrc
+ Remove the backup folder created by the the Anaconda-Clean package
rm -rf ~/.anaconda_backup
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6) ROS Melodic
- Install ROS by following this link :
http://wiki.ros.org/melodic/Installation/Ubuntu
- Uninstall ROS :
bash
sudo apt-get remove ros-*
sudo apt-get autoremove
- Uninstall Gazebo :
bash
sudo apt-get remove gazebo9
sudo apt-get autoremove
- Create MRTA_ws
mkdir ~/MRTA_ws
cd ~/MRTA_ws/
- Clone repository into workspace
git clone https://github.com/huynhvuh/multi_robots_task_allocation.git
chmod -R a+rX *
- Use rosdep to install all dependencies
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
- Build workspace
catkin_make
- Echo source to ".bashrc" file
echo "source ~/MRTA_ws/devel/setup.bash" >> ~/.bashrc
- Or to ".zshrc" file
echo "source ~/MRTA_ws/devel/setup.zsh" >> ~/.zshrc
- Fix error '[Err] [REST.cc:205] Error in REST request':
inside file '.ignition/fuel/config.yaml': replace 'url: https://api.ignitionfuel.org' by 'url: https://api.ignitionrobotics.org'
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7) Universal Robot
- Git clone:
https://github.com/olinrobotics/universal_robot
- Source-install of "assimp" package to fix error of "failed to import assimp" of "moveit_commander"
conda activate MRTA
git clone https://github.com/assimp/assimp.git
cd ./assimp
mkdir build && cd build
cmake .. -G 'Unix Makefiles'
make -j4
cd ..
cd ./port/PyAssimp
python setup.py install
- Fix warning '#include <class_loader/class_loader.h>' in file 'universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp' of 'ur_kinematics' package:
Replace by '#include <class_loader/class_loader.hpp>'
- Fix error 'hardware_interface' of 'ur_modern_driver':
https://github.com/iron-ox/ur_modern_driver/commit/883070d0b6c0c32b78bb1ca7155b8f3a1ead416c?diff=split
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8) Gripper "robotiq_2finger_grippers"
- Git clone:
https://github.com/olinrobotics/robotiq_2finger_grippers
https://github.com/mgruhler/soem.git (Maybe)
https://github.com/ros-industrial/ros_canopen/tree/melodic-devel/socketcan_interface (Maybe)
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9) Additional packages
- Openni camera:
git clone https://github.com/ros-drivers/openni_camera.git
Fix 'error: expected constructor, destructor, or type conversion before ‘(’ token PLUGINLIB_REGISTER_CLASS(sensor_filter/FootprintFilter, sensor_filter::FootprintFilter, filters::FilterBase<sensor_msgs::LaserScan>)'
Replace in 'common-sensors-master/common_sensors/src/filters.cpp' :
PLUGINLIB_REGISTER_CLASS(sensor_filter/FootprintFilter, sensor_filter::FootprintFilter, filters::FilterBase<sensor_msgs::LaserScan>)
PLUGINLIB_REGISTER_CLASS(sensor_filter/NanToInfFilter, sensor_filter::NanToInfFilter, filters::FilterBase<sensor_msgs::LaserScan>)
By:
PLUGINLIB_EXPORT_CLASS(sensor_filter::FootprintFilter, filters::FilterBase<sensor_msgs::LaserScan>)
PLUGINLIB_EXPORT_CLASS(sensor_filter::NanToInfFilter, filters::FilterBase<sensor_msgs::LaserScan>)
- Robot localization:
git clone https://github.com/cra-ros-pkg/robot_localization.git
- Common sensors:
git clone https://github.com/JenniferBuehler/common-sensors.git
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10) Multi Machines configurations
- Install ssh
sudo apt install ssh
- Multi machines
PC master
hostname -I (Ex : 10.191.76.93)
Inside file ".zshrc" / ".bashrc" :
export ROS_IP=10.191.76.93
export ROS_MASTER_URI=http://10.191.76.93:11311
Other PC
hostname -I (Ex : 10.191.76.59)
Inside file ".zshrc" / ".bashrc" :
export ROS_IP=10.191.76.59
export ROS_MASTER_URI=http://10.191.76.93:11311
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11) Multi UR5 github
https://github.com/olinrobotics/HIRo/wiki/MoveIt!-for-Xamyab
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12) Run multiple AGV robots in simulated usecase and task-allocation algorithm
roslaunch usecase_gazebo usecase_world_for_multi_mms.launch paused:="false"
roslaunch multi_mms indivi_mm.launch robot_name:="robot0" pose_x:="1" pose_y:="1"
roslaunch multi_mms indivi_mm.launch robot_name:="robot`" pose_x:="1" pose_y:="2"
python src/mrta/scripts/MRTA_algorithm.py
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