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Install ROS Indigo on Robot Computer

Perform these install steps on the computer responsible for robot control.

Some assumptions about your Ubuntu Install

These instructions make the following assumptions about your Ubuntu 14.04LTS install. These are not hard and fast rules, however, the instructions assume these things. When asked during the install you should select the following:

sudo apt-get update
sudo apt-get install openssh-client
sudo apt-get install openssh-server

Setup your ROS sources.list

Setup your computer to accept software from packages.ros.org. ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your ROS keys

sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

ROS Installation

Make sure the Debian package is up to date:

sudo apt-get update
sudo apt-get install ros-indigo-desktop-full

Initialize rosdep

sudo rosdep init
rosdep update

Getting rosinstall

Rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

sudo apt-get install python-rosinstall

Install required packages

Connected to the internet run the following commands:

Install useful Linux utilities

These tools are useful for monitoring system processes, setting up networking, and setting up NTPD for the remote computer. They are not necessary but recommended.

sudo apt-get install iperf chrony htop bridge-utils

Install required ROS third party packages for segway_v3_robot

These are the packages that RMP V3 depends on:

sudo apt-get install ros-indigo-navigation ros-indigo-gmapping ros-indigo-robot-localization ros-indigo-yocs-cmd-vel-mux ros-indigo-joy ros-indigo-urg-node ros-indigo-lms1xx ros-indigo-pointgrey-camera-driver ros-indigo-cmake-modules ros-indigo-imu-tools daemontools openssh-server libpcap0.8-dev

Add yourself to the dialout group

This is necessary if you have serial, or serial-USB devices:

sudo adduser $USER dialout

Environment setup

Edit the local bash environment to add a few useful aliases:

gedit ~/.bashrc

Add the following lines to the end of the file each provides a few shortcuts:

source /opt/ros/indigo/setup.bash
alias sws='source ./devel/setup.bash'
alias clean_backups='find ./ -name '*~' | xargs rm'
alias clean_pyc='find ./ -name '*.pyc' | xargs rm'
alias clean_rosbuild='rm -rf build devel install'
alias segstop='sudo service segway-core stop'
alias segstart='sudo service segway-core start'
alias segchk='sudo tail /var/log/upstart/segway-core.log -n 30'

Close your terminal and open a new one to make the changes effective

Setup Workspace

Create a work space in your home directory.

mkdir -p ~/segway_ws/src
cd ~/segway_ws/src
catkin_init_workspace
cd ..
catkin_make

Download and install ROS software packages

cd ~/segway_ws/src
git clone https://github.com/StanleyInnovation/segway_v3.git
git clone https://github.com/StanleyInnovation/segway_v3_robot.git
git clone https://github.com/StanleyInnovation/segway_v3_desktop.git
git clone https://github.com/StanleyInnovation/segway_v3_network.git
cd ..
catkin_make

Modify Sudo

This modification allows the user sibot to run start / stop service without entering a password.

sudo visudo

Paste this at the bottom of the file below the "#includedir"

sibot   ALL=(ALL) NOPASSWD: /sbin/start segway-core, /sbin/stop segway-core

Save the file

[CTRL-X]
[Y]
[ENTER]

Setup chrony

Additional Steps

You should probably do these regardless, but these steps are really only required PGR Flea3 camera and onboard PC powered from RMP.

Open the grub configuration

sudo gedit /etc/default/grub

Add this line

Configures the system to not wait at startup if boot fails

# disable getting stuck in menu after fail
GRUB_RECORDFAIL_TIMEOUT=0

Update the USB memory buffer to handle USB3

* Locate this line

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"

* Change it to this:

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore usbfs_memory_mb=1000"

Save and exit

Update Grub

From the terminal

sudo update-grub
sudo modprobe usbcore usbfs_memory_mb=1000

Restart the computer


2020-08-08 12:24