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Setting Up the Workspace

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Frederick Wachter edited this page Sep 9, 2016 · 8 revisions

Setting Up the Workspace

The purpose of the workspace setup file is to allow for the all the dependencies of this repo to be added automatically to a folder in the home directory in folder called yumi_ws. This page describes how to use this setup file along with some basic understanding an functionality of YuMi in ROS.

Sections

Before Setting Up the Workspace

Before setting up the workspace, the Leap Motion SDK needs to be downloaded and extracted. The extracted folder should be called LeapDeveloperKit_2.3.1+31549_linux. Open this folder, and find the subfolder called LeapSDK. Copy this folder to your home directory. Once the LeapSDK folder is in the home directory, then follow the steps in the next section to setup the YuMi ROS workspace.

NOTE: If the LeapSDK folder is not in your home directory before continuing, then the steps shown below will not work properly and may cause issues with building the YuMi ROS workspace and/or lose functionality in the repo. Also, do not change the name of this folder since the workspace setup file requires the original name.

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Initialize and Setup Workspace

A bash file has been made in order to full initialize and setup the YuMi ROS workspace. Please be familiar with the contents of this file before setting up the workspace

Run Workspace Setup Script

In order to setup the workspace, run the following commands:

cd ~
git clone https://www.github.com/ethz-asl/yumi
bash yumi/setup_ws/setupWS.bash

The commands above ensure that you are in the home directory, get the YuMi repo from GitHub, and run the setup bash script

Explanation of Workspace Setup Script

The setup file shown above will do the following sets of operations:

  1. Check if the folder "yumi_ws" already exists in the home directory
  2. Notify the user to read this Wiki first before continuing and ask the user if they would like to continue
  3. Ask the user if ROS Indigo is already installed. If not, it will go ahead and install it
  4. Ensure that ROS Indigio MoveIt! has been installed
  5. Create a directory called "yumi_ws" and move/add all the necessary repositories to run the YuMi files
  6. Build the workspace using catkin
  7. Ask the user if they would like to add various commands to the bashrc file for easier use of the repo (Recommended!)
  8. Notify the user if the setup of the workspace has finished successfully and advise to source the bashrc file

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Running YuMi with ROS

The following list of wiki pages goes through the steps of how to setup YuMi to be able to interface with ROS. The steps from these wiki pages should be done in the order shown below.

  1. Setting up YuMi in RobotStudio
  2. Setting up YuMi
  3. Setting up ROS

If the user would like to only run a simulated YuMi and not interface with an existing one, please refer to the section on how to do so on the Setting up ROS wiki page.

For more information on YuMi Quick Commands, please refer to the YuMi Quick Commands wiki page.

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