Overview

이번 장에서는 DRC Simulator를 어떻게 설치하는지에 대해서 알아보고자 합니다.

Ubuntu and ROS Indigo

ROS Indigo에서 drcsim을 어떻게 빌드하는지 설명합니다.

1. ROS Indigo(http://www.ros.org/wiki/indigo/Installation/Ubuntu). E.g., on trusty 로부터 패키지를 인스톨 하기위해 시스템을 설정합니다.

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
   wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
   

2. DRC Simulator를 설치하기 위해서는 아래의 패키지들이 설치 되어 있어야 합니다.

    sudo apt-get update
   
    # Install osrf-common's dependencies
    sudo apt-get install -y cmake               \
                            debhelper           \
                            ros-indigo-ros      \
                            ros-indigo-ros-comm
   
    # Install sandia-hand's dependencies
    sudo apt-get install -y ros-indigo-xacro        \
                            ros-indigo-ros          \
                            ros-indigo-image-common \
                            ros-indigo-ros-comm     \
                            ros-indigo-common-msgs  \
                            libboost-dev            \
                            avr-libc                \
                            gcc-avr                 \
                            libqt4-dev
   
    # Install gazebo-ros-pkgs
    sudo apt-get install -y libtinyxml-dev                 \
                            ros-indigo-vision-opencv       \
                            ros-indigo-angles              \
                            ros-indigo-cv-bridge           \
                            ros-indigo-driver-base         \
                            ros-indigo-dynamic-reconfigure \
                            ros-indigo-geometry-msgs       \
                            ros-indigo-image-transport     \
                            ros-indigo-message-generation  \
                            ros-indigo-nav-msgs            \
                            ros-indigo-nodelet             \
                            ros-indigo-pcl-conversions     \
                            ros-indigo-pcl-ros             \
                            ros-indigo-polled-camera       \
                            ros-indigo-rosconsole          \
                            ros-indigo-rosgraph-msgs       \
                            ros-indigo-sensor-msgs         \
                            ros-indigo-trajectory-msgs     \
                            ros-indigo-urdf                \
                            ros-indigo-dynamic-reconfigure \
                            ros-indigo-rosgraph-msgs       \
                            ros-indigo-tf                  \
                            ros-indigo-cmake-modules
   
    # Install drcsim's dependencies
    sudo apt-get install -y cmake debhelper                          \
                         ros-indigo-std-msgs ros-indigo-common-msgs  \
                         ros-indigo-image-common ros-indigo-geometry \
                         ros-indigo-ros-control                      \
                         ros-indigo-geometry-experimental            \
                         ros-indigo-robot-state-publisher            \
                         ros-indigo-image-pipeline                   \
                         ros-indigo-image-transport-plugins          \
                         ros-indigo-compressed-depth-image-transport \
                         ros-indigo-compressed-image-transport       \
                         ros-indigo-theora-image-transport           \
                         ros-indigo-laser-assembler
   

3. Catkin workspace에 ros gazebo plugins, osrf-common, sandia-hand, drcsim을 내려 받습니다. # catkin workspace 셋업

     mkdir -p ~/catkin_ws/src
     cd ~/catkin_ws/src
   
     # 소프트웨어 다운로드
     git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git
     hg clone https://bitbucket.org/osrf/osrf-common
     hg clone https://bitbucket.org/osrf/sandia-hand
     hg clone https://bitbucket.org/osrf/drcsim
   
     # catkin workspace에서 빌드를 진행 합니다.
   
     cd ~/catkin_ws
     catkin_make install
   

4. Catkin workspace에서 실행하기

     gedit ~/.bashrc
   
     # bashrc 파일을 열어 아래의 환경 변수를 등록 하고 저장합니다.
     source ~/catkin_ws/install/setup.bash
     source ~/catkin_ws/install/share/drcsim/setup.sh
   
     # 제대로 설치되어 있는지 실행해서 확인 합니다.
     roslaunch drcsim_gazebo atlas.launch