ROS setup

gistfile1.txt

# ROS install ros version 'kinetic'

# mac - http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source

# ubuntu - http://wiki.ros.org/kinetic/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'
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
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential


# useful basic ROS packages
sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control ros-kinetic-rosparam-handler ros-kinetic-rosparam-shortcuts libcwiid-dev libcwiid1 lswm python-cwiid wmgui wminput cwiid-dbg libbluetooth-dev ros-kinetic-robot-localization ros-kinetic-robot-localization ros-kinetic-dwa-local-planner ros-kinetic-move-base ros-kinetic-serial

#install catkin_tools
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools
sudo apt-get install python-rosinstall-generator
sudo apt-get install python-wstool

#for now we need to use python 2.7.xx , iow system version
pyenv global system
sudo apt-get install python-pip
pip install -U scikit-learn numpy scipy

#give user access to serial devices by adding to dialout group
#note: this does not take effect until logout and back in
sudo usermod -aG dialout $USER
# for reference
# usermod -G adm,cdrom,dip,plugdev,lpadmin,sambashare,dialout,sudo,staff,users ethan



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# ROS install basic packages from source

mkdir -p ~/catkin_ws
cd ~/catkin_ws
wstool init src
catkin init
cd ~/catkin_ws/src

# turtlebot
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
catkin build
source ~/catkin_ws/devel/setup.zsh
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
catkin build



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duplicate package into custom version, ie ej_turtlebot3_slam

# after copying directory from origin to new
# edit package.xml and CMakelists.txt and change name to new one in each
# ie turtlebot3_slam => ej_turtlebot3_slam

catkin build
source ~/.zshrc

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# code setup
mkdir -p ~/projects/growbot/growbot_ws
cd ~/projects/growbot/growbot_ws
wstool init src
catkin init
catkin build
source devel/setup.zsh

# create a new package
cd src
catkin create pkg my_first_ros_pkg
# edit package.xml, CMakeLists.txt and in this case hello_world_node.cpp
cd ..
catkin build
rosrun my_first_ros_pkg hello_world_node

# with dependencies
catkin create pkg ros_tutorials_service --catkin-deps message_generation std_msgs roscpp


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# realsense

#https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main"
sudo apt-get update
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE | sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
sudo apt-get update
#sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
#install older versions
sudo apt-get remove librealsense2 librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
sudo apt-get install librealsense2=2.17.1-0~realsense0.372 librealsense2-dkms librealsense2-utils=2.17.1-0~realsense0.372 librealsense2-dev=2.17.1-0~realsense0.372 librealsense2-dbg=2.17.1-0~realsense0.372 librealsense2-udev-rules=2.17.1-0~realsense0.372

realsense-viewer
rs-enumerate-devices
modinfo uvcvideo | grep version
lsusb

# calibration
#https://www.intel.com/content/www/us/en/support/articles/000026723/emerging-technologies/intel-realsense-technology.html
sudo apt-get install libusb-dev libusb-1.0-0-dev libglfw3 libglfw3-dev freeglut3 freeglut3-dev libpng12-dev librscalibrationtool librscalibrationapi
/usr/bin/Intel.Realsense.DynamicCalibrator

# update firmware
#https://www.intel.com/content/www/us/en/support/articles/000028171/emerging-technologies/intel-realsense-technology.html
#download latest non-dev firmware at https://downloadcenter.intel.com/download/28237/Latest-Firmware-for-Intel-RealSense-D400-Product-Family
# make sure plugged into usb3 port, ie:
lsusb
> Bus 002 Device 008: ID 8086:0b07 Intel Corp.
# show info
intel-realsense-dfu -p -b 002 -d 006 -e
# install new firmware
intel-realsense-dfu -b 002 -d 008 -f -i Signed_Image_UVC_5_10_6_0.bin


#clone and build the ros package
cd ~/catkin_ws/src
git clone https://github.com/intel-ros/realsense.git
cd realsense
catkin_make_isolated --install --use-ninja -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release


# gazebo-realsense
#this does not compile in gazebo 7 .. apparently need 7.1 at least?
# https://github.com/intel/gazebo-realsense
# http://answers.gazebosim.org/question/17369/error-class-gazebophysicsworld-has-no-member-named-lightcount/
#instead we can use generic depth cam
http://gazebosim.org/tutorials?tut=ros_depth_camera&cat=connect_ros


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# install new version of ddynamic_reconfigure (realsense installed old version)

cd ~/catkin_ws/src
rm -rf realsense/ddynamic_reconfigure
git clone https://github.com/awesomebytes/ddynamic_reconfigure.git
catkin clean ddynamic_reconfigure
catkin build ddynamic_reconfigure

#python version also needed
cd  ~/projects/growbot/resources/
git clone https://github.com/pal-robotics/ddynamic_reconfigure_python.git
cd ddynamic_reconfigure_python
python setup.py build
sudo python setup.py install