07_ROS Setup

ROS kinetic - in ubuntu 16.04

• !!! 아나콘다 삭제후 진행 anaconda is not recommended 

docker : sudo docker pull osrf/ros:kinetic-desktop-full

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

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full #OR ros-kinetic-desktop-base 
sudo apt-get install ros-kinetic-catkin

sudo rosdep init

rosdep update

# ENVIRONMENT SETUP
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# GET ROSINSTALL
sudo apt-get install python-rosinstall


sudo apt-get install python-rosinstall  #Create a ROS Workspace까지해야import ros가능

Ref :ROS Wiki

ROS INDIGO - in ubuntu 14.04

# INSTALL ROS INDIGO - in ubuntu 14.04

# ADD TO APT REPOSITORY LIST
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

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

# UPDATE APT PACKAGE LIST
sudo apt-get update

# INSTALL THE DESKTOP FULL VERSION
sudo apt-get install ros-indigo-desktop-full

# BARE BONES VERSION - NO GUI 
# sudo apt-get install ros-indigo-ros-base

# INITIALIZE ROSDEP
sudo rosdep init
rosdep update

# ENVIRONMENT SETUP
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

# GET ROSINSTALL
sudo apt-get install python-rosinstall

Ref :Ronny

Setup

ROS_ROOT and ROS_PACKAGE_PATH 확인 : printenv | grep ROS

Create a ROS Workspace

# SOURCING  ENVIRONMENT - for kinetic version
source /opt/ros/kinetic/setup.bash

# CREATING A ROS CATKIN WORKSPACE
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
#Run "make -j4 -l4" in "/workspace/ros/build"


# SOURCING  CATKIN ENVIRONMENT - and automatically get it to source from now on
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/catkin_ws/devel/setup.bash; source ~/.bashrc
echo $ROS_PACKAGE_PATH

확인 : echo $ROS_PACKAGE_PATH

설치 확인

1st terminal : roscore
2nd terminal : rosrun turtlesim turtlesim_node
3rd terminal : rosrun turtlesim turtle_teleop_key
4th terminal : rosrun rqt_graph rqt_graph

권장 개발 에디터 (qtcreator)

sudo apt-get install qtcreator 
qtcreator

---

Autoware

1. 설치

1.1 소스 설치

Get Autoware by following steps. Then build and install it.

If you get the latest autoware form github

$ git clone https://github.com/CPFL/Autoware.git
$ cd Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release
$ source devel/setup.bash

Could NOT find GLEW -> sudo apt-get install libglew-dev

If you use archives:

$ wget http://www.pdsl.jp/app/download/10394444574/Autoware-beta.zip
$ unzip Autoware-beta.zip
$ cd Autoware-beta/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release
$ source devel/setup.bash

1.2 Docker 설치

docker pull kunfengchen/u14-indigo-autoware 
docker pull nownicked/autoware-x11running7

2. 실행

2.1 소스설치시

2.2 Docker 설치시

• xmanager - 연결 설정 - Connection/SSH/Tunneling/X11 Forwarding 체크, xManager체크

• 도커 실생

- docker run -it --rm \
   --net host \
   --env="DISPLAY" \
   --volume "$HOME/.Xauthority:/root/.Xauthority:rw" \
   --volume "$HOME/sharefolder:/sharefolder" \
   {Docker Image ID} /bin/bash

• 도커 내에서

cd /src/Autoware/ros/
./run