Note: These Instructions are made for Ubuntu 16.04 with ROS Kinetic or Ubuntu 18.04 with ROS Melodic ALREADY INSTALLED (install ros-kinetic-desktop-full/ros-melodic-desktop-full to get simulation and rviz tools)

Installation

Ubuntu 16.04

$ cd ~/catkin_ws/src
$ git clone --recurse-submodules https://github.com/SAR-Research-Lab/humanoid
$ sudo apt-get update
$ sudo apt-get install -y git ros-kinetic-libntcan ros-kinetic-libpcan       \
        ros-kinetic-controller-manager ros-kinetic-controller-manager-msgs \
        ros-kinetic-joint-limits-interface ros-kinetic-cob-srvs ros-kinetic-srdfdom            \
        ros-kinetic-cob-control-mode-adapter ros-kinetic-cob-dashboard ros-kinetic-moveit*    \
        ros-kinetic-cob-command-gui libmuparser-dev python-rosinstall openjdk-8-jdk     \
        python-wstool ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control 
$ cd ..
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
$ catkin_make

Ubuntu 18.04

$ cd ~/catkin_ws/src
$ git clone --recurse-submodules https://github.com/SAR-Research-Lab/humanoid
$ sudo apt-get update
$ sudo apt-get install -y git ros-melodic-libntcan ros-melodic-libpcan       \
        ros-melodic-controller-manager ros-melodic-controller-manager-msgs \
        ros-melodic-joint-limits-interface ros-melodic-cob-srvs ros-melodic-srdfdom            \
        ros-melodic-cob-control-mode-adapter ros-melodic-cob-dashboard ros-melodic-moveit*    \
        ros-melodic-cob-command-gui libmuparser-dev python-rosinstall openjdk-8-jdk     \
        python-wstool ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control 
$ cd ..
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
$ catkin_make

Simulation Installation Extra Steps

Update your Gazebo Version. (http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=7.0#Alternativeinstallation:step-by-step)

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch grasping_sim one_arm_joint_control.launch

Docker Image Creation

The ROS project can be saved to a Docker image that will allow it to be run in a virtualized computing environment.

In the catkin workspace there is a Dockerfile in the src/humanoid directory that contains the commands to build the image:

docker build -t sarlabdearborn/humanoid:your_name .

The built image can be saved and run later using Docker. See Docker Installation.

docker run -p 6080:80 --shm-size=512m sarlabdearborn/humanoid:your_name

Gazebo 3D Models

Gazebo can use models that are placed in the ~/.gazebo/models directory. Check to see what's there. One source for models is the 3DGEMS project which are linked below. Download and extract to your models directory. These models are required to render the simulated environment of the Fairlane Lab

3DGEMS furniture

3DGEMS electronics

3DGEMS miscellaneous