Ubuntu installation
In order to run the public simulation of TIAGo it is preferable to get a fresh installation of Ubuntu 18.04.2 LTS as follows
wget http://releases.ubuntu.com/18.04/ubuntu-18.04.2-desktop-amd64.iso
Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.
ROS + Tiago installation
Set up ROS packages sources
In order to install the required ROS packages for running TIAGo's simulation first, as explained in ROS Melodic installation, it is required to include packages.ros.org in the debian sources:
sudo apt update sudo apt install lsb-release # if you haven't already installed lsb-release
1. Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.
2. Setup your sources.list
Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Source Debs are also available |
3. Set up your keys
sudo apt install curl # if you haven't already installed curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git python-rosinstall ros-melodic-desktop-full python-catkin-tools ros-melodic-joint-state-controller ros-melodic-twist-mux ros-melodic-ompl ros-melodic-controller-manager ros-melodic-moveit-core ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-move-group ros-melodic-moveit-kinematics ros-melodic-moveit-ros-planning-interface ros-melodic-moveit-simple-controller-manager ros-melodic-moveit-planners-ompl ros-melodic-joy ros-melodic-joy-teleop ros-melodic-teleop-tools ros-melodic-control-toolbox ros-melodic-sound-play ros-melodic-navigation ros-melodic-depthimage-to-laserscan ros-melodic-moveit-commander
Append the following command to ~/.bashrc to allow any console to use the catkin commands
source /opt/ros/melodic/setup.bash
Source-based installation
These instructions assume that you are comfortable with ROS and the catkin build #previewsystem. Please familiarize yourself using the ROS and catkin tutorials.
First of all open a terminal and create an empty workspace:
mkdir ~/tiago_dual_public_ws cd ~/tiago_dual_public_ws
Then run the following instruction in order to download tiago_dual_public.rosinstall and clone all the required repositories within the workspace:
wget https://raw.githubusercontent.com/pal-robotics/tiago_dual_tutorials/master/tiago_dual_public-melodic.rosinstall rosinstall src /opt/ros/melodic tiago_dual_public-melodic.rosinstall
Set up rosdep
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install --from-paths src --ignore-src -y --rosdistro melodic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup slam_toolbox joint_impedance_trajectory_controller cartesian_impedance_controller omni_base_description omni_drive_controller pal_moveit_capabilities pal_moveit_plugins pal_loc_measure pal_map_manager ydlidar_ros_driver"
Then, you may proceed building the workspace:
source /opt/ros/melodic/setup.bash catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.
To check that everything is properly installed run the TIAGo++ simulation tutorial