installation_wiki - IRS-group/isr_tiago_docs GitHub Wiki
sudo apt install git
Only for the robots and the server:
sudo apt install ssh
Change [email protected] to your Github email account.
ssh-keygen -t ed25519 -C "[email protected]"
cat ~/.ssh/id_ed25519.pub
eval `ssh-agent -s`
ssh-add ~/.ssh/id_ed25519
copy that key into your GitHub account (Click on your profile picture -> "Edit profile" -> SSH Keys -> Past key -> Add key)
cd ~ && git clone [email protected]:IRS-group/scripts.git
cd ~/scripts/fresh_installation_useful_scripts/ && ./install_recommended_pkgs.sh
echo "# personal configuration starts here" >> ~/.bashrc
echo "source ~/scripts/permanent.sh" >> ~/.bashrc
cp ~/scripts/fresh_installation_useful_scripts/gitconfig.txt ~/.gitconfig
nano ~/.gitconfig
Edit your username and mail
Follow these instructions:
http://wiki.ros.org/noetic/Installation/Ubuntu
sudo apt install flex ros-noetic-mongodb-store ros-noetic-tf2-bullet freeglut3-dev time python3.8
python3 -m pip install numpy==1.23.5
sudo apt install bison flex gawk g++-multilib pypy
sudo apt install python3-catkin-tools
sudo apt install ros-noetic-moveit ros-noetic-urdf-geometry-parser ros-noetic-people ros-noetic-four-wheel-steering-controller ros-noetic-ddynamic-reconfigure ros-noetic-vision-msgs ros-noetic-realsense2-camera ros-noetic-nlopt swig3.0 ros-noetic-rosparam-shortcuts ros-noetic-rviz-visual-tools libnlopt-cxx-dev python3-pyaudio ros-noetic-fiducials ros-noetic-tf2-sensor-msgs ros-noetic-aruco ros-noetic-audio-common-msgs
pip3 install shapely
pip3 install pvporcupine
pip3 install soundfile
pip3 install SpeechRecognition
pip3 install -U openai-whisper
pip3 install nltk sentence-transformers
pip3 install bllipparser
python3 -m nltk.downloader bllip_wsj_no_aux
python3 -m nltk.downloader 'punkt'
python3 -m nltk.downloader wordnet
pip3 install torch==1.8.2 torchvision==0.9.2 torchaudio==0.8.2 --extra-index-url https://download.pytorch.org/whl/lts/1.8/cu111
python3 -m pip install detectron2 -f https://dl.fbaipublicfiles.com/detectron2/wheels/cu111/torch1.8/index.html
mkdir -p ~/tiago_ws/src
cd ~/tiago_ws
catkin init
catkin build
cd ~/tiago_ws/src
git clone -b [YOUR_BRANCH_NAME] --single-branch [email protected]:IRS-group/isr_tiago.git
cd isr_tiago/
./repository.debs
source ~/tiago_ws/devel/setup.bash
cd ~/tiago_ws/
catkin build -c -j $(expr `nproc` - 1)
If you intend on using simulation on our simulated testbed download the models from the following link. Add the model folder to this repository.
sudo apt update
sudo apt install git wget ipython3 python3-rosinstall python3-catkin-tools python3-rosdep python-is-python3 ros-noetic-actionlib-tools ros-noetic-moveit-commander ros-noetic-cob-gazebo-objects
cd ~/tiago_ws
wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/noetic-devel/tiago_public-noetic.rosinstall
rosinstall src /opt/ros/noetic tiago_public-noetic.rosinstall
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro noetic --skip-keys "urdf_test omni_drive_controller orocos_kdl pal_filters libgazebo9-dev pal_usb_utils speed_limit_node camera_calibration_files pal_moveit_plugins pal_startup_msgs pal_local_joint_control pal_pcl_points_throttle_and_filter current_limit_controller hokuyo_node dynamixel_cpp pal_moveit_capabilities pal_pcl dynamic_footprint gravity_compensation_controller pal-orbbec-openni2 pal_loc_measure pal_map_manager ydlidar_ros_driver"
catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` - 1)
If this doesn't work check the steps 2 and 3 described here:
http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS
In the instructions, replace
tiago_public_wsfortiago_ws
Install NVIDA Driver 470:
sudo apt install nvidia-driver-470
Install CUDA using runfile local. Follow the instructions in the link bellow, and make sure to not install the 455 driver version that comes with CUDA 11.1 (just untick it when asked):
Add these two lines to your .bashrc:
export PATH="/usr/local/cuda-11.1/bin:$PATH"
export LD_LIBRARY_PATH="/usr/local/cuda-11.1/lib64:$LD_LIBRARY_PATH"
To check if the driver and cuda are properly installed run, respectively:
nvida-smi
nvcc --version
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In case of compilation errors, report them to the older members. Some package may not compile, but it may be outdated packages that you don't need.
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In case you get permission denied error when running any node, try
sudo rosdep fix-permissions -
A common issue is related with files not being executable. To solve this run
chmod +x <file_name>