rutgers_arm

Rutgers APC Repository

This is the set of code used by the Rutgers University ARM team for the second APC in Leipzig.

Installing ROS Indigo

On Ubuntu 14.04 (catkin_version):

1. Follow ROS instructions for installing Indigo (http://wiki.ros.org/indigo/Installation/Ubuntu).

2. Install other ROS related packages

   sudo apt-get install ros-indigo-cmake-modules ros-indigo-fcl

Install Pracsys and its dependencies

1. Get the PRACSYS repository

2. Get the PRACSYS Models repository (already included in the repo)

3. Copy the following commands to your ~/.bashrc:

   #ROS source /opt/ros/indigo/setup.bash export LIBRARY_PATH=$LIBRARY_PATH:/opt/ros/indigo/lib/ export ROS_PARALLEL_JOBS=-j4

   #PRACSYS export PRACSYS_PATH=........ /pracsys/src export PRACSYS_MODELS_PATH=....... /pracsys_models
   export ROS_PACKAGE_PATH=$PRACSYS_PATH:$ROS_PACKAGE_PATH source $PRACSYS_PATH/../devel/setup.sh

   #OSG export OSG_FILE_PATH=$PRACSYS_MODELS_PATH export OSG_LIBRARY_PATH=.:/usr/local/lib:/opt/local/lib/ export PKG_CONFIG_PATH=/usr/X11/lib/pkgconfig:$PKG_CONFIG_PATH export COLLADA_BOOST_FILESYSTEM_LIBRARY=/usr/local/lib

   Make sure to edit appropriately the path to the pracsys repository in the above lines. Then execute:

   source ~/.bashrc

4. Initialize catkin workspace

   cd src rm -rf CMakeLists.txt catkin_init_workspace

5. Install OpenSceneGraph

   sudo apt-get install libopenscenegraph-dev

6. Install Lapack

   sudo apt-get install liblapack-dev

7. Install FCL

   sudo apt-get install ros-indigo-fcl

8. Install TRAC_IK

One of the more recent contributions is a new library for providing inverse kinematics for manipulators. The code (available at https://bitbucket.org/traclabs/trac_ik) extends KDL's IK for higher success rates.

To use this library, first install NLOpt

sudo apt-get install libnlopt-dev

Then, you can download the trac_ik ROS package into your catkin_workspace

git clone https://[email protected]/traclabs/trac_ik.git

Then, run these command to exclude the MoveIt specific packages

cd trac_ik/trac_ik_kinematics_plugin
touch CATKIN_IGNORE
cd ../trac_ik/trac_ik_examples
touch CATKIN_IGNORE
cd ..

9. Configure PRACSYS

   cd prx_build python build_package_list.py gedit packages.config

10. Edit the packages.config to load the packages that you need (0 means the package will not be compiled, 1 means the package will be compiled).

Sample packages.config file

('rearrangement_manipulation',0)
('apc',1)
('manipulation',0)
('pebble_motion',0)
('conformant_planning',0)
('coordination_manipulation',0)
('physics_based',0)
('cloud_manipulation',0)
('two_dim_problems',0)
('many_arm',0)
('kinematic_planners',0)
('homotopies',0)
('kinodynamic',0)
('decentralized_coordination',0)
('crowd_simulation',0)

11. Build external dependencies:

    python catkin_compile_packages.py cd ../prx_external cmake . make

12. Build PRACSYS

    cd $PRACSYS_PATH/.. && catkin_make