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InstallingTheScarabsROSPackages

Overview

Scarab is a ground robot developed by Penn that runs ROS. These are instructions to install it on an Ubuntu 14.04 (ROS only runs on Ubuntu) and to download the Scarab simulation files.

Berkeley

  • At Berkeley, we are using swarmnuc001.eecs.berkeley.edu.
    • To get an account, email Christopher or Marten
      • Accounts get added to /etc/sudoers so that they can become root
    • Edward has an account
    • ROS was installed on swarmnuc001 in ~ros/
      • To become the ros user, become root and then su:
        dhcp-45-184:~ cxh$ ssh -l eal box.xs0r.org
        eal@box.xs0r.org's password:
        Welcome to Ubuntu 14.04.2 LTS (GNU/Linux 3.13.0-52-lowlatency x86_64)

         * Documentation:  https://help.ubuntu.com/

        Last login: Fri May 29 14:47:28 2015 from dhcp-45-184.eecs.berkeley.edu
        eal@swarmnuc001:~$ sudo -i
        [sudo] password for eal:
        root@swarmnuc001:~# su - ros
        ros@swarmnuc001:~$ pwd
        /home/ros
        ros@swarmnuc001:~$ ls
        catkin_ws  scarab_ws
        ros@swarmnuc001:~$
        [$[Get Code]]

Install ROS

If you get stuck, see the end of this page for Problems and Solutions

  1. Install ROS indigo desktop full version http://wiki.ros.org/indigo/Installation/Ubuntu
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
    sudo apt-get update
    sudo apt-get install ros-indigo-desktop-full
    [$[Get Code]]
  2. Install packages needed
    ccache
    ack-grep
    openssh-server
    ttf-dejavu
    libncurses-dev
    libnl-dev
    libarmadillo-dev
    libncurses5-dev
    libcgal-dev
    htop
    emacs
    ros-indigo-desktop-full
    ros-indigo-openni2-launch
    ros-indigo-hokuyo-node
    ros-indigo-joystick-drivers
    ros-indigo-navigation
    ros-indigo-octomap-mapping
    ros-indigo-gmapping
    ros-indigo-octomap-rviz-plugins
    python-rosinstall
    python-rosdep
    valgrind
    gdb
    iperf
    python-pip
    libarmadillo-dev
    libcgal-dev
    libgsl0-dev libgsl0-dbg libgsl0ldbl
    libnl-dev
    strace
    ack-grep
    htop
    ipython
    screen
    python-serial
    git-core
    build-essential
    python-yaml
    cmake
    openssh-server
    minicom
    iputils-arping
    iputils-tracepath
    iputils-clockdiff
    terminator
    cfengine2
    console-common
    acpid
    ifplugd
    batctl
    batctl-dbg
    traceroute
    olsrd
    olsrd-plugins
    nfs-common
    rsync
    subversion
    [$[Get Code]]
    In one line this will be:
    sudo apt-get install ccache ack-grep openssh-server ttf-dejavu libncurses-dev libnl-dev libarmadillo-dev libncurses5-dev libcgal-dev htop emacs ros-indigo-desktop-full ros-indigo-openni2-launch ros-indigo-hokuyo-node ros-indigo-joystick-drivers ros-indigo-navigation ros-indigo-octomap-mapping ros-indigo-gmapping ros-indigo-octomap-rviz-plugins python-rosinstall python-rosdep valgrind gdb iperf python-pip libarmadillo-dev libcgal-dev libgsl0-dev libgsl0-dbg libgsl0ldbl libnl-dev strace ack-grep htop ipython screen python-serial git-core build-essential python-yaml cmake openssh-server minicom iputils-arping iputils-tracepath iputils-clockdiff terminator cfengine2 console-common acpid ifplugd batctl batctl-dbg traceroute olsrd olsrd-plugins nfs-common rsync ros-indigo-rosbridge-server
    [$[Get Code]]
    Or use paste or subversion to copy the above into a reqs.txt file
    cat path_to_reqs/txt/reqs.txt | sudo apt-get install
    [$[Get Code]]
  3. Update your path with the ROS tools:
    source /opt/ros/indigo/setup.bash
    [$[Get Code]]
  4. Create a ROS catkin_workspace at an appropriate location:
    mkdir -p /path_to_scarab_ws/scarab_ws/src
    cd /path_to_scarab_ws/scarab_ws/src/
    catkin_init_workspace
    [$[Get Code]]
  5. Install Scarab's ROS packages
    cd path_to_scarab_ws/scarab_ws/src
    git clone https://github.com/bcharrow/scarab.git
    [$[Get Code]]
    stay on the master branch
  6. Make and install
    cd path_to_scarab_ws/scarab_ws
    catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo
    [$[Get Code]]
  7. Source the setup files for the scarab workspace.
    echo "source /path_to_scarab_ws/scarab_ws/devel/setup.bash" >> ~/.bashrc
    source ~/.bashrc
    [$[Get Code]]

Run the simulation to test it

copy the following launch files into .../scarab_ws/src/scarab/scarab
Click "Get Code" on the bottom right of the box for an correctly-indented version. FIXME (Penn is updating its github, so the files aren't in the repo yet)
simulation.launch

<launch>

<arg name="robot" default="scarab0" />
<arg name="map" default="/map" />
<arg name="odom" default="/odom_laser" />
<arg name="base_frame" default="base_link" />
<arg name="map_frame" default="map_hokuyo" />

<node name="map" pkg="map_server" type="map_server" output="screen"
args="$(find scarab)/maps/levine-4.yaml" >
<param name="frame_id" value="$(arg map_frame)" />
</node>

<node name="kinematic_sim" pkg="kinematic_sim" type="kinematic_sim"
output="screen" respawn="false">
<param name="publish_freq" value="10"/>
<param name="pub_global_frame" value="true"/>

<param name="base_frame_id" value="$(arg base_frame)"/>
<param name="global_frame_id" value="$(arg map_frame)"/>

<param name="noise_x_sd" value="0.0"/>
<param name="noise_y_sd" value="0.0"/>
<param name="noise_th_sd" value="0.0"/>

<param name="num_agents" value="1"/>

<param name="initial0" value="0.00 0.00 0.00"/>
</node>

<node name="laser" pkg="laser_simulator" type="laser_simulator"
output="screen" respawn="false">
<param name="frame_id" value="$(arg robot)/$(arg base_frame)"/>
<param name="offset/x" value="0.0"/>
<param name="offset/y" value="0.0"/>
<param name="offset/z" value="0.2"/>

<param name="noise_sd" value="0.003"/>

<rosparam file="$(find laser_simulator)/models/UTM_30.yaml" command="load" />
<rosparam file="$(find laser_simulator)/config/models.yaml" command="load" />

<remap from="~map" to="$(arg map)"/>
<remap from="~odom" to="/$(arg robot)/gt_odom"/>
<remap from="~scan" to="/scan" />
</node>

</launch>
[$[Get Code]]

hfn.launch

<launch>
<arg name="robot" default="scarab0" />
<arg name="map" default="/map" />
<arg name="odom" default="/odom_laser" />
<arg name="base_frame" default="$(arg robot)/base_link" />
<arg name="map_frame" default="map_hokuyo" />

<node name="pose" pkg="hfn" type="tf_posestamped_node.py">
<param name="base_frame_id" value="$(arg base_frame)"/>
<param name="map_frame_id" value="$(arg map_frame)"/>
</node>
<node name="hfn" pkg="hfn" type="hfn">
<param name="base_frame_id" value="$(arg base_frame)" />
<param name="map_frame_id" value="$(arg map_frame)" />

<param name="tau_1" value="1.0" />
<param name="tau_2" value="0.2" />
<!-- old and good -->
<!-- <param name="tau_1" value="1.5" /> -->
<!-- <param name="tau_2" value="0.3" /> -->
<param name="cost_occ_prob" value="0.01" />
<param name="cost_occ_dist" value="0.15" />
<param name="max_occ_dist" value="0.5" />
<param name="lethal_occ_dist" value="0.35" />

<param name="v_opt" value="0.5" />
<param name="w_max" value="1.0" />
<!-- 0.0873 rad ~= 5 degrees -->
<!-- <param name="goal_tolerance_ang" value="0.0873" /> -->
<param name="goal_tolerance_ang" value="0.2" />
<param name="min_map_update" value="2.0" />
<param name="stuck_start" value="3.0" />
<remap from="odom" to="$(arg robot)/odom_motor" />
<remap from="map" to="$(arg map)" />
<param name="stop_on_preempt" value="false" />
<remap from="cmd_vel" to="$(arg robot)/cmd_vel" />
</node>

<node name="goal_to_action" pkg="hfn" type="goal_to_action.py" />
</launch>
[$[Get Code]]

Then run the following terminal commands. Make sure you run

source .../scarab_ws/devel/setup.bash
[$[Get Code]]
in each terminal before running the following commands:
roscore
[$[Get Code]]
roslaunch rosbridge_server rosbridge_websocket.launch
[$[Get Code]]
roslaunch scarab simulation.launch
[$[Get Code]]
roslaunch scarab hfn.launch
[$[Get Code]]
rosrun rviz rviz
[$[Get Code]]

You should now see the visualization program. On the toolbar click Panels > Displays. Then at the bottom select "Add" and on the "By topic" tab select "/map/Map". Also, make sure that "map_hokuyo" is selected for "Fixed Frame" under "Global Options" in rviz.

Problems and solutions

Reverse chronological order, most recent first

rvis display is black in Ubuntu running on VMware Fusion

Answer is from http://wiki.ros.org/rviz/Troubleshooting. The problem is hardware acceleration. Try

export LIBGL_ALWAYS_SOFTWARE=1
rosrun rviz rviz
[$[Get Code]]

Errors about missing transforms and what not

Make sure to select "map_hokuyo" for "Fixed Frame" under "Global Options" in rviz.

roslaunch scarab simulation.launch

Error about missing -frounding-math
[$[Get Code]]

Here, the fix was to rerun: 

  catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo

scarab/hfn/CMakeFiles/hfnlib.dir/src/hfn.cpp.o

catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo failed:

[ 56%] Generating C++ code from scarab_msgs/MoveAction.msg
[ 58%] Generating C++ code from scarab_msgs/MoveActionResult.msg
make[2]: *** [scarab/hfn/CMakeFiles/hfnlib.dir/src/hfn.cpp.o] Error 1
make[1]: *** [scarab/hfn/CMakeFiles/hfnlib.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 59%] Generating C++ code from scarab_msgs/MoveActionFeedback.msg
[ 61%] Generating C++ code from scarab_msgs/MoveGoal.msg
[ 61%] Built target scarab_msgs_generate_messages_cpp
Linking CXX executable /home/ros/scarab_ws/devel/lib/tf_throttle/tf_throttle
[ 61%] Built target tf_throttle
Linking CXX shared library /home/ros/scarab_ws/devel/lib/libmatcher.so
[ 61%] Built target matcher
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
ros@swarmnuc001:~/scarab_ws$
[$[Get Code]]

Here, the fix was to rerun: 

  catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo

/usr/share/cmake-2.8/Modules/FindCurses.cmake:159 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)

catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo failed:

-- +++ processing catkin package: 'scarab'
-- ==> add_subdirectory(scarab/scarab)
-- +++ processing catkin package: 'mesh80211s'
-- ==> add_subdirectory(scarab/mesh80211s)
-- Using these message generators: gencpp;genlisp;genpy
-- mesh80211s: 2 messages, 0 services
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")
-- checking for module 'libnl-1'
-- package 'libnl-1' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)
scarab/mesh80211s/CMakeLists.txt:11 (pkg_check_modules)


-- +++ processing catkin package: 'scarab_twist'
-- ==> add_subdirectory(scarab/scarab_twist)
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message):
Could NOT find Curses (missing: CURSES_LIBRARY CURSES_INCLUDE_PATH)
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-2.8/Modules/FindCurses.cmake:159 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
scarab/scarab_twist/CMakeLists.txt:5 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/ros/scarab_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ros/scarab_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
ros@swarmnuc001:~/scarab_ws$
[$[Get Code]]

I think the fix was that I had not done 

  cd scarab
  git checkout bcharrow-devel

Missing MoveAction.h

The fix was to not checkout bcharrow-devel and instead stay on master

[#SeeAlso]] See Also
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Page last modified on April 13, 2017, at 03:37 PM