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[[Tutorial for ver.3]]
Virtual robots can be controlled by using SIGVerse and ROS (Robot Operating System).
This section describes a sample program that uses ROS.
Please refer to [[this page>Tutorial for ver.3]] for sample programs that do not use ROS.
#contents
* System Requirements [#SystemRequirements]
If you want to use ROS, prepare an Ubuntu environment and install ROS there. ~
And Ubuntu communicates with Windows on which Unity is installed. ~
Please refer to [[this page>Tutorial for ver.3]] for requirements on Windows.
The ROS requirement is that the OS is '' Ubuntu 16.04 '' and ROS [[Distribution>http://wiki.ros.org/Distributions]] is '' Kinetic Kame ''.
#ref(RobotOperationUsingROS.png)
* Environment Setup[#vf01a3c9]
** Build Windows environment [#k2704bce]
Please refer to [[this page>Tutorial for ver.3#SystemRequirements]] to build the Windows environment.
After that, perform the following environment construction.
** Build Ubuntu environment [#zddcd2d8]
Build Ubuntu environment as follows.~
*** Using VMware [#gc586877]
Instead of preparing an Ubuntu PC, you can use an Ubuntu virtual machine on Windows. ~
However, in this case, the tutorial using GPU is difficult.
The procedure for building an Ubuntu environment using VMware is as follows.
+ Install VMware Workstation 15.5.0 Player for Windows 64-bit Operating Systems.~
https://my.vmware.com/web/vmware/free#desktop_end_user_computing/vmware_workstation_player/15_0
+ Download Iso file of Ubuntu 16.04.6 LTS.~
http://releases.ubuntu.com/16.04/
+ Launch VMware Workstation Player.
+ Click [Create a New Virtual Machine].
+ Use [Installer disc image file(iso):] and select ubuntu-16.04.6-desktop-amd64.iso.
+ Recommend to check "Store virtual disk as a single file".
+ Please adjust Memory and Processors in [Edit virtual machine settings] after creating VM image.
*** Install ROS Kinetic [#dccef8ca]
Install ROS by following [[this steps>http://wiki.ros.org/kinetic/Installation/Ubuntu]]. ~
Then follow the [[ROS tutorial>http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment]] until you create a ROS workspace.
And add "~/catkin_ws/devel/setup.bash" to .bashrc to simplify subsequent commands. Be careful if you manage multiple ROS workspaces.
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
*** Install ROSBridge_suite [#c3162771]
Start the terminal and execute the following command.
$ sudo apt-get install ros-kinetic-rosbridge-server
*** Install Mongo C driver [#n65f2eba]
In the terminal, execute the following command:
$ cd ~/Downloads
$ wget https://github.com/mongodb/mongo-c-driver/releases/download/1.4.2/mongo-c-driver-1.4.2.tar.gz
$ tar zxvf mongo-c-driver-1.4.2.tar.gz
$ cd mongo-c-driver-1.4.2
$ ./configure
$ make
$ sudo make install
*** Install Mongo C ++ driver [#lf0687e5]
In the terminal, execute the following command:
$ cd ~/Downloads
$ wget https://github.com/mongodb/mongo-cxx-driver/archive/r3.0.3.tar.gz
$ tar zxvf r3.0.3.tar.gz
$ cd mongo-cxx-driver-r3.0.3/build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DLIBMONGOC_DIR=/usr/local -DLIBBSON_DIR=/usr/local ..
$ sudo make EP_mnmlstc_core
$ make
$ sudo make install
*** sigverse_ros_bridge settings [#n891675d]
In the terminal, execute the following command:
$ cd ~/catkin_ws/src
$ git clone https://github.com/SIGVerse/sigverse_ros_package.git
$ cd ..
$ catkin_make
*** Install Turtlebot package [#c4f5154e]
Install ROS packages to use [[Turtlebot>http://wiki.ros.org/Robots/TurtleBot]]. ~
Since there are currently only Indigo pages, the command is replaced for Kinetic.
$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs
If an error occurs after changing to "kinetic", the error message will disappear by deleting the report file.
$ ls -la /var/crash
$ sudo rm /var/crash/*
Please refer to the following page when installing to Kinetic Kame. ~
http://answers.ros.org/question/246015/installing-turtlebot-on-ros-kinetic/
$ sudo apt-get install -y linux-headers-generic
$ sudo sh -c 'echo "deb-src http://us.archive.ubuntu.com/ubuntu/ xenial main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted" > \
/etc/apt/sources.list.d/official-source-repositories.list'
$ sudo apt-get update
$ sudo apt-get install -y ros-kinetic-librealsense
$ sudo apt-get install -y ros-kinetic-realsense-camera
$ sudo apt-get install -y ros-kinetic-turtlebot
It is also convenient to install the following:
$ sudo apt-get install ros-kinetic-turtlebot*
Then deploy the launch XML file (3dsensor) for SIGVerse.
$ cd ~/catkin_ws/
$ sudo cp src/sigverse_ros_package/samples/turtlebot2/resources/asus_xtion_pro_sigverse.launch.xml /opt/ros/${ROS_DISTRO}/share/turtlebot_bringup/launch/includes/3dsensor
~* Regarding this matter, [[Mr. Isao Hara from the National Institute of Advanced Industrial Science and Technology>http://hara.jpn.com/_default/ja/Topics/SIGVerse20Ver.3.html]] provided files and advices. Thank you.