Install Prototype:
1.) At the moment the easiest way is to use Ubuntu 12.04. Install a corresponding version
2.) Make sure that Apache and PHP5 are installed correctly
3.) Install ROS Hydro. Follow the instructions here: http://wiki.ros.org/hydro/Installation/Ubuntu
4.) Install NEST. Follow the instructions here: http://www.nest-initiative.org/Software:Installation
5.) Install Cython:
sudo apt-get install cython
5.) In order to upload files > 2MB Apache settings have to be changed
vi /etc/php5/apache2/php.ini
Change the parameters upload_max_filesize and post_max_size to a big value e.g. 500000
7.) Restart the Apache server
8.) Check put the prototype from github:
git clone https://github.com/ozweigle/SimulatorPrototype.git
9.) Create a symbolic link
ln -s /<GIT_INSTALL_DIR>/SimulatorPrototype/webinterface /var/www/SimulatorPrototype
10.) make uploads directory writable to apache
cd /<GIT_INSTALL_DIR>/SimulatorPrototype/webinterface
sudo chgrp www-data uploads
11.) Test the Apache server. Go to
http://<SERVER_IP>/SimulatorPrototype/
12.) You should see the SimulatorPrototype Page now
13.) Install rosbridge and rosapi:
sudo apt-get install ros-hydro-rosbridge-server
sudo apt-get install ros-hydro-rosbridge-suite
sudo apt-get install ros-hydro-rosapi
14.) add the following lines to your .bashrc:
source /<GIT_INSTALL_DIR>/SimulatorPrototype/ros_ws/devel/setup.bash
export PYTHONPATH=/<GIT_INSTALL_DIR>/SimulatorPrototype/nest_extensions/py_modules:$PYTHONPATH
15.) Build the rosnodes. Execute:
cd /<GIT_INSTALL_DIR>/SimulatorPrototype/ros_ws/
run catkin_make
16.) Run the following launch file to start the system:
roslaunch system_starter system_starter.launch
17.) The system can now be used...
System Usage:
1.) Go to http://YOUR_MACHINE_IP/SimulatorPrototype
2.) Type YOUR_MACHINE_IP in the field SERVER and press connect
3.) If everything is running properly the message "Connected to ROS YOUR_MACHINE_IP" must be visible
4.) In the directory data, some example models can be found
5.) Upload a Brain Model from data/nest_models
6.) Upload an Environment Model from data/env_models
7.) Upload a Transfer Function from data/trans_funcs
8.) Press the Simulate Button
9.) A window with the Simulator stage should show up and the robot should move