[Last generated: Wed 4 Oct 2023 15:34:19 EDT]

• Install Libbarrett hardware (external PC) direct support through PEAK USB CAN (PCAN)
• CF WAM Internal PC Setup:
  • Re-Install CF:
  • Install End-of-service ROS:
• Make a image copy of the entire CF card:
• WAM External PC
  • ADLINK Box | Ubuntu 18.04 Melodic | libbarrett 2.0.0
• Config:
  • Zero Cal:

• install ros pkg barrett from manufacture: https://support.barrett.com/wiki/WAM/InstallBarrettRosPkg
  • install under catkin_ws/src
• install libbarrett : https://support.barrett.com/wiki/Libbarrett/Installation
  • clone git clone https://git.barrett.com/software/libbarrett into src
  • cd ~/libbarrett/scripts and install sh ./install_dependencies.sh

• Clear CF card and delete all occupied spaces
• install on a Ubuntu PC by running scripts in https://support.barrett.com/wiki/WAM/CreateCF
  • Download the install bash script, and modify the grep such that it installed at the disk you specified under /dev/sd##

• http://wiki.ros.org/SnapshotRepository

• build a custom local rosdep: https://chowdera.com/2022/01/202201171917303691.html

• install hydro dependencies

sudo apt-get install ros-hydro-sensor-msgs
sudo apt-get install ros-hydro-sensor-msgs


----
rosdep install --from-paths src/ --ignore-src --rosdistro hydro

Click here to check the original reference

1. check disks $ sudo fdisk -l
2. unmount the SD card $ sudo umount /dev/sdb
3. Create an image $ sudo dd if=/dev/sdb of=/media/uwarl-orin/VIP_FILE_BAK/WAM_SYSTEM_IMG_BACKUP/wam-internal-back-2022-oct-04.img bs=1M status=progress
4. Write to disk from an image (MUCH SLOWER): sudo dd if=/media/uwarl-orin/VIP_FILE_BAK/WAM_SYSTEM_IMG_BACKUP/wam-internal-back-2022-oct-04.img of=/dev/sdb bs=1M status=progress

• [EOL: May, 2023!!] ROS Melodic: https://wiki.ros.org/melodic/Installation/Ubuntu

• libbarrett (non-RT): https://git.barrett.com/software/libbarrett/-/tree/dev-2.0.0 - manually change config after installation, or use modified UWARL version: https://github.com/UW-Advanced-Robotics-Lab/uwarl-libbarrett

• (*) PeakCAN (RT + NETDEV_SUPPORT): https://www.peak-system.com/fileadmin/media/linux/index.htm

  • https://support.barrett.com/wiki/Hand/282/SoftwareSetup/Linux NO_NETDEV_SUPPORT

• barrett-ros-pkg (release-2.0.0): https://git.barrett.com/software/barrett-ros-pkg/-/tree/release-2.0.0

• RT kernel patch: https://stackoverflow.com/questions/51669724/install-rt-linux-patch-for-ubuntu

• download libbarrett 3.0.0, and manually install CAN and dependencies based on the bash scripts $ cat install_dependencies.sh

with /etc/barrett/* default, and /UWARL_drivers/barrett/* customized to Waterloo steel

{22-07-22 18:01}uwarl-MXE210-18:~/UWARL_drivers uwarl% diff -r barrett/ /etc/barrett
diff --color -r barrett/calibration_data/wam7w/zerocal.conf /etc/barrett/calibration_data/wam7w/zerocal.conf
1,2c1
< home = ( -0.0001095700572, -1.868457755, -0.003420908008, 3.087304199, 0.001106996437, 0.137188488, -0.006267436993 );
< zeroangle = ( 4.667903538, 4.980835618, 4.649495768, 5.850602725, 2.110757564, 0.788466125, 4.420932631 );
---
> home = ( 0, -2, 0, 3.13, 0, 0, 0 );
Only in barrett/calibration_data/wam7w: zerocal.conf.1
Only in barrett/calibration_data/wam7w: zerocal.conf.2
Only in barrett/calibration_data/wam7w: zerocal.conf.3
Only in barrett/calibration_data/wam7w: zerocal.conf.4
Only in barrett/calibration_data/wam7w: zerocal.conf.5

📢 Now, available @ https://github.com/UW-Advanced-Robotics-Lab/uwarl-libbarrett

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