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These instructions cover system requirements, and the installation of prerequisite software (ROS, PLEXIL, GSAP), for OceanWATERS. Familiarity with Unix/Linux and the Bash shell command line is assumed.

System Requirements

Hardware

The minimum recommended hardware configuration is as follows:

  • 2.0 GHz quad core x86-64 CPU
  • 16 GB memory
  • Nvidia graphics card. GeForce GTX 750-Ti, GeForce GTX 960M, Quadro M1200, or better.

Software

The following minimum software set is required to build and run OceanWATERS (version numbers and identifiers are listed where specific versions are required):

  • The Ubuntu 20.04 LTS (Focal Fossa) Linux operating system, with:
    • The Bash command shell
    • The git version control system
  • ROS Noetic Ninjemys distribution, with:
    • The Catkin build system
  • Gazebo 11.12+
  • PLEXIL plan language and executive (http://plexil.sourceforge.net).
  • Generic Software Architecture for Prognostics (GSAP) v2.0

IMPORTANT NOTE: Virtual machines (in particular VMWare, Parallels, VirtualBox, Windows Subsystem for Linux v2) have all worked to some degree, but tend to not support the Gazebo simulator very well or at all. Virtual machines are not recommended for OceanWATERS.

Prerequisites

OceanWATERS requires PLEXIL, GSAP, ROS, and Gazebo. In the following instructions, we assume the default command shell is Bash.

PLEXIL

The OceanWATERS distribution includes an autonomy module (ow_autonomy) that at present uses PLEXIL, an open-source plan authoring language and autonomy executive developed largely by NASA. It is hosted at *https://github.com/plexil-group/plexil.

PLEXIL must be built from its source code prior to building the ow_plexil package. This is a one-time step, that may need to be repeated only when there is an essential update to the PLEXIL software needed by OceanWATERS, which is infrequent.

  1. Check out the releases/plexil-6 branch of the source code:
git clone -b releases/plexil-6 https://github.com/plexil-group/plexil.git

Note that at the time of this writing, we used the head of the branch listed above; it had a git commit hash beginning with 8e990be7. This commit has also been tagged OceanWATERS-v13.0. Newer versions of this branch should continue to work with OceanWATERS, but you can revert to this version if you run into problems.

  1. Install any of the following build prerequisites needed. If you're not sure which, if any, are missing on your system, try the build as instructed below, and if there are errors that indicate missing software packages, install them and try again. All packages needed can be installed with: sudo apt install <package-name>. Here is one command to get them all:
sudo apt install make \
                 autotools-dev \
                 autoconf \
                 libtool \
                 g++ \
                 ant \
                 gperf \
                 default-jre

Note that PLEXIL (specifically the plan compiler) requires the Java compiler and runtime environment, version 8 or newer.

  1. Define the PLEXIL_HOME environment variable as the location of your PLEXIL installation. This is needed prior to building PLEXIL, and will be needed each time you run PLEXIL, with OceanWATERS or otherwise. Therefore we recommend placing the following command (substituting the correct pathname) in your shell initialization file, e.g. ~/.bashrc.
export PLEXIL_HOME=/path/to/plexil
  1. Source the PLEXIL initialization file. This will also be needed every time you run PLEXIL, so we recommend placing this in your shell initialization file as well, below the previous command.
source $PLEXIL_HOME/scripts/plexil-setup.sh
  1. Configure PLEXIL for the build.
cd $PLEXIL_HOME
git submodule update --init --recursive
make src/configure
cd src
./configure CFLAGS="-g -O2" CXXFLAGS="-g -O2" --prefix=$PLEXIL_HOME --disable-static --disable-viewer --enable-ipc
  1. Build PLEXIL.
cd $PLEXIL_HOME
make universalExec plexil-compiler checkpoint

Note that this is a minimal build of PLEXIL as needed by OceanWATERS. Additional build information is available at the PLEXIL website given above.

GSAP

The OceanWATERS distribution includes a power system module (ow_power_system) that uses GSAP, an open-source battery prognostics engine developed by NASA. GSAP must be installed prior to building the ow_power_system package.

  1. Check out a designated tag of the source code:
git clone -b v1.0.3-OW https://github.com/nasa/GSAP.git gsap

This tagged version of GSAP's master branch is a tested version of GSAP for use with OceanWATERS -- newer versions of the branch are not guaranteed to work. Note that checking out a specific tag leaves your local repository in a "detached HEAD" state; this is of no concern.

  1. Define the GSAP_HOME environment variable as the location of your GSAP installation, subsrituting the correct pathname in the following example.
export GSAP_HOME=/path/to/gsap

NOTE: for convenience, you may wish to add this export to your shell initialization file (e.g. .bashrc), since it is needed every time OceanWATERS is used.

  1. Build GSAP.
cd $GSAP_HOME
mkdir build
cd build
cmake ..
make

NOTE: Configuration files can be used to tune the prognostics algorithm and/or adjust the prognostics model used to perform calculations. An example configuration file can be found at: ow_power_system/config/example.cfg. Additional information about mapping configuration files and modifying their contents can be found here.

If you have problems, see additional build information here.

ROS

Installation of OceanWATERS requires prior installation of ROS Noetic. ROS binary downloads for Ubuntu Linux are available at http://wiki.ros.org/ROS/Installation, and instructions for installing ROS are available at http://wiki.ros.org/noetic/Installation/Ubuntu.

  • Install ROS (Noetic version) by following these instructions. Select the ros-noetic-desktop-full package when you get to that step.

In the remainder of this document, we assume that ROS has been installed under /opt/ros/noetic.

Gazebo

  • Install Gazebo 11.12+.

    • First run gazebo --version and check the version that is currently installed, if you have 11.12 or higher installed then you may skip this Gazebo upgrade.

    • Add OSRF gazebo repositories to your linux enviroment:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  • Update and upgrade the packages (confirm the upgrade when you get prompted):
sudo apt-get update
sudo apt-get upgrade

  • Run gazebo --version and verify that you have a version of 11.12 or higher.

  • If you may be using Gazebo/OceanWATERS with a VPN (Virtual Private Network) running, it is highly recommended you add the following line to your shell initialization file (e.g. .bashrc). An explanation of the issue can be found in the troubleshooting guide.

export IGN_IP=127.0.0.1

Additional Packages

  • In addition to the above, OceanWATERS requires packages listed in the following installation command.
sudo apt install git \
                 python3-wstool \
                 python3-catkin-tools \
                 ros-noetic-tf2-ros \
                 ros-noetic-robot-state-publisher \
                 ros-noetic-joint-state-publisher \
                 ros-noetic-joint-state-controller \
                 ros-noetic-effort-controllers \
                 ros-noetic-joint-trajectory-controller \
                 ros-noetic-dynamic-reconfigure \
                 ros-noetic-nodelet \
                 ros-noetic-nodelet-topic-tools \
                 ros-noetic-camera-info-manager \
                 ros-noetic-tf2-geometry-msgs \
                 ros-noetic-gazebo-ros-control \
                 ros-noetic-xacro \
                 ros-noetic-rviz-visual-tools \
                 ros-noetic-rqt-plot \
                 ros-noetic-rqt-rviz \
                 ros-noetic-rqt-image-view \
                 ros-noetic-rqt-common-plugins \
                 ros-noetic-gazebo-plugins \
                 ros-noetic-moveit \
                 ros-noetic-moveit-commander \
                 ros-noetic-moveit-ros-visualization \
                 ros-noetic-geometry-msgs \
                 ros-noetic-cmake-modules \
                 ros-noetic-stereo-msgs \
                 ros-noetic-stereo-image-proc \
                 ros-noetic-kdl-parser-py \
                 ros-noetic-pcl-ros \
                 libgtk2.0-dev \
                 libglew-dev