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--- intranet:projects:robot:iis_robot_sw [2016/11/28 11:45]
c7031109
+++ intranet:projects:robot:iis_robot_sw [2018/09/03 19:35] (current)
@@ Line 19: / Line 19: @@
 For members using the iis infrastructure in our lab:
-    kinit your_c-number
+  git clone --recursive git@git.uibk.ac.at:iis-software/robot_sw.git
-    git clone --recursive ssh://iis.uibk.ac.at/git/software/iis_robot_sw
-For external users with their own hardware:
+For external users:
-    kinit your_c-number
+  git clone --recursive https://git.uibk.ac.at/iis-software/robot_sw.git
-    git clone --recursive ssh://iis.uibk.ac.at/git/kukie
 ===Install dependencies===
@@ Line 35: / Line 33: @@
 ROS Groovy
-    sudo apt-get install ros-groovy-cob-common ros-groovy-pr2 ros-groovy-ros-full ros-groovy-orocos-toolchain ros-groovy-rtt-ros-comm ros-groovy-ros-comm ros-groovy-geometry ros-groovy-common-msgs ros-groovy-common ros-groovy-rtt-geometry ros-groovy-moveit-full ros-groovy-moveit-full-pr2 libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-groovy-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-groovy-moveit-full ros-groovy-cmake-modules ros-groovy-map-msgs ros-groovy-controller-manager
+    sudo apt-get install ros-groovy-cob-common ros-groovy-pr2 ros-groovy-ros-full ros-groovy-orocos-toolchain ros-groovy-rtt-ros-comm ros-groovy-ros-comm ros-groovy-geometry ros-groovy-common-msgs ros-groovy-common ros-groovy-rtt-geometry ros-groovy-moveit-full ros-groovy-moveit-full-pr2 libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-groovy-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-groovy-moveit-full ros-groovy-cmake-modules ros-groovy-map-msgs ros-groovy-controller-manager python-catkin-tools
 ROS Hydro
-    sudo apt-get install ros-hydro-cob-common ros-hydro-ros-full ros-hydro-orocos-toolchain ros-hydro-rtt-ros-comm ros-hydro-ros-comm ros-hydro-geometry ros-hydro-common-msgs ros-hydro-rtt-geometry ros-hydro-moveit-full ros-hydro-moveit-full-pr2 ros-hydro-geometry-experimental libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-hydro-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-hydro-moveit-full ros-hydro-cmake-modules ros-hydro-map-msgs ros-hydro-controller-manager
+    sudo apt-get install ros-hydro-cob-common ros-hydro-ros-full ros-hydro-orocos-toolchain ros-hydro-rtt-ros-comm ros-hydro-ros-comm ros-hydro-geometry ros-hydro-common-msgs ros-hydro-rtt-geometry ros-hydro-moveit-full ros-hydro-moveit-full-pr2 ros-hydro-geometry-experimental libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-hydro-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-hydro-moveit-full ros-hydro-cmake-modules ros-hydro-map-msgs ros-hydro-controller-manager python-catkin-tools
 ROS Indigo
-    sudo apt-get install ros-indigo-desktop-full ros-indigo-cob-common ros-indigo-ros-comm ros-indigo-geometry ros-indigo-common-msgs ros-indigo-control-msgs ros-indigo-geometry-experimental libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-indigo-moveit-core ros-indigo-moveit-ros-planning ros-indigo-moveit-ros-planning-interface libghc-zlib-dev zlibc zlib1g-dbg zlib-bin ros-indigo-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-indigo-moveit-full ros-indigo-cmake-modules ros-indigo-map-msgs ros-indigo-controller-manager
+    sudo apt-get install ros-indigo-desktop-full ros-indigo-cob-common ros-indigo-ros-comm ros-indigo-geometry ros-indigo-common-msgs ros-indigo-control-msgs ros-indigo-geometry-experimental libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-indigo-moveit-core ros-indigo-moveit-ros-planning ros-indigo-moveit-ros-planning-interface libghc-zlib-dev zlibc zlib1g-dbg zlib-bin ros-indigo-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-indigo-moveit-full ros-indigo-cmake-modules ros-indigo-map-msgs ros-indigo-controller-manager python-catkin-tools
 ROS Kinetic
-    sudo apt-get install ros-kinetic-desktop-full ros-kinetic-cob-common ros-kinetic-ros-comm ros-kinetic-geometry ros-kinetic-common-msgs ros-kinetic-control-msgs ros-kinetic-geometry-experimental libgsl0ldbl libgsl0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-kinetic-moveit-core ros-kinetic-moveit-ros-planning ros-kinetic-moveit-ros-planning-interface libghc-zlib-dev zlibc zlib1g-dbg zlib-bin ros-kinetic-qt-build libqwt6 libqwt-dev libsdl1.2-dev ros-kinetic-moveit-full ros-kinetic-cmake-modules ros-kinetic-map-msgs ros-kinetic-controller-manager
+    sudo apt-get install ros-kinetic-desktop-full ros-kinetic-ros-comm ros-kinetic-geometry ros-kinetic-common-msgs ros-kinetic-control-msgs libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev ros-kinetic-moveit-core ros-kinetic-moveit-ros-planning ros-kinetic-moveit-ros-planning-interface libghc-zlib-dev zlibc zlib1g-dbg ros-kinetic-qt-build libqwt-dev libsdl1.2-dev ros-kinetic-cmake-modules ros-kinetic-map-msgs ros-kinetic-controller-manager cmake libgsl-dev libgsl2 libopencv-dev python-catkin-tools ros-kinetic-openni2-launch ros-kinetic-openni-launch
+if you want to install the workspace under ros kinetic, you have to install moveit from source (http://moveit.ros.org/install/source/)
 Update your ros database by
@@ Line 51: / Line 51: @@
 ===Setup environment variables===
 Add an adapted version of the following example to your .bashrc file (<distribution> = groovy, hydro or indigo):
@@ Line 58: / Line 60: @@
     export ROS_MASTER_URI='<your ros server ip>:11311'
     export IIS_INCLUDE_PATH='<your path>/iis_robot_sw'
+    export VREP_ROOT=$IIS_INCLUDE_PATH/external_libs/vrep
     export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$IIS_INCLUDE_PATH/external_rosmake_ws:$IIS_INCLUDE_PATH/iis_rosmake_ws
     export PYTHONPATH=$PYTHONPATH:$IIS_INCLUDE_PATH/external_libs/LeapSDK/lib:$IIS_INCLUDE_PATH/external_libs/LeapSDK/libx64
     export VREP_PACKAGE_PATH=$IIS_INCLUDE_PATH/external_libs/vrep
+===Setup Environment via bashrc===
+<code>
+ROSVERSION=melodic
+WS_DIR=$HOME
+DEFAULT_WS=iis_ws
+#ROSVERSION=kinetic
+#DEFAULT_WS=robot_sw/iis_catkin_ws
+function getmyip() {
+  MYIP=$(ip addr show wlan0 |  grep "inet " | awk '{print $2}' | sed 's%/.*$%%g')
+  if [ -z $MYIP ] ; then
+    MYIP=$(ip addr show eth0 |  grep "inet " | awk '{print $2}' | sed 's%/.*$%%g')
+  fi
+  if [ -z $MYIP ] ; then
+    MYIP=127.0.0.1
+  fi
+  echo "using IP: $MYIP"
+}
+function ros_local() {
+  getmyip
+  source /opt/ros/$ROSVERSION/setup.bash
+  export ROS_MASTER_URI=http://$MYIP:11311
+  echo "set ROS_MASTER_URI=$ROS_MASTER_URI"
+  export ROS_HOSTNAME=$MYIP
+  export ROS_IP=$MYIP
+  if [ "$1" != "" ]
+  then
+    WORKSPACE=$1
+  else
+    WORKSPACE=$DEFAULT_WS
+  fi
+  echo "using workspace: $WORKSPACE"
+  export IIS_INCLUDE_PATH=$WS_DIR/$WORKSPACE
+  if [ -f $IIS_INCLUDE_PATH/devel/setup.bash ] ; then
+    echo "sourcing $IIS_INCLUDE_PATH/devel/setup.bash"
+    source $IIS_INCLUDE_PATH/devel/setup.bash
+  else
+    echo "No setup.bash file found on $IIS_INCLUDE_PATH/devel/setup.bash"
+  fi
+}
+function ros_lab() {
+  ros_local
+  export ROS_MASTER_URI=http://192.168.64.104:11311
+  echo "changed ROS_MASTER_URI=$ROS_MASTER_URI"
+}
+function ros_robotino() {
+  ros_local
+  export ROS_MASTER_URI=http://192.168.1.111:11311
+  echo "changed ROS_MASTER_URI=$ROS_MASTER_URI"
+}
+</code>
+Adapt ''ROS_VERSION'', ''WS_DIR'', ''DEFAULT_WS'' to you system. ''WS_DIR'' can be used when all workspaces are stored in the same directory, e.g. ''$HOME/Repos''. The ''DEFAULT_WS'' variable specifies the default workspace to be used when no argument is specified. An argument can be specified for initializing a different workspace, e.g. ''ROS_LOCAL robot_sw/catkin_iis_ws''.
 ===Build===
@@ Line 72: / Line 137: @@
 Description of the arm control topics can be found [[intranet:projects:robot:armtopics|here]].
-===Hand===
+===Grippers===
-emre provides input to senka
+==Schunk SDH2==
+  * [[intranet:projects:robot:iis_schunk|Schunk SDH Hand]]
+==Schunk PG70==
+  * [[intranet:projects:robot:iis_pg70|Schunk PG70]]
+==Pisa/IIT SoftHand==
+  * [[intranet:projects:robot:iit_softhand|Pisa/IIT Softhand]]
+===KIT Head===
+Description of the KIT Head can be found [[intranet:projects:robot:kit-head|here]]
-===Head===
-dadhichi provides input to senka
 =====Simulator=====

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