HOW TO setup the project

Contents

HOW TO setup the project

This document describes how to perform the installation of the project.

Docker Image

Attention

strongly recommended! This docker image contains all you need to run the simulation.

I strongly suggest you to run the project inside this Docker container. Here is the official site of the image.

Run the image using this instruction:

docker run -it -p 6080:80 -p 5900:5900 -p 8888:8888 --name RCL_project carms84/exproblab

You can access the machine typing http://127.0.0.1:6080/ on your console, or better using tools such as VNC.

Attention

there could be some problems in running the container for the first time.

It happens each time the container is created for the first time after its creation: xvnc11 gives some problems. To solve the situation, first run a bash inside the machine using the following command:

docker exec -it RCL_project /bin/bash

and copy and paste this sequence of commands:

rm /tmp/.X1-lock
/usr/bin/Xvfb :1 -screen 0 1024x768x16 &
export DISPLAY=":1"
export HOME="/root"
export USER="/root"
/usr/bin/openbox &
/usr/bin/lxpanel --profile LXDE &
/usr/bin/pcmanfm --desktop --profile LXDE &
x11vnc -display :1 -xkb -forever -shared -repeat &

The docker is a bit old inside. It should be updated before going on, using this sequence of instructions:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 4EB27DB2A3B88B8B
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
sudo apt-get update -y
sudo apt-get upgrade -y

Setup the workspace

Note

not needed if you already have Docker with the image suggested above.

You need, first of all, to create a new workspace which must be called ros_ws: it is very important, otherwise the setup won’t work. Another important observation to do here is that **the workspace must be located in your /root folder.

You can quickly create a new workspace by running this command inside the /root folder:

To do this,

cd /root/
git clone https://github.com/programmatoroSeduto/docker-exproblab-backup.git -b main ros_ws

The download is quite large, so it could take some minutes depending on your network.

After downloaded everything, try to compile the workspace:

cd /root/ros_ws/
catkin_make

Note

remember to source the workspace! Put the source insideyour .bashrc file.

build the aRMOR ontology

The project requires aRMOR as one of its essential component. Use this instructions to compile it:

cd /root/ros_ws/src/armor/armor
chmod +x ./gradlew
./gradlew deployApp
cd /root/ros_ws
catkin_make

Install the MoveIt! framework

Use this simple bash script for installing MoveIt. The project requires the version 1.1.5 :

cd /root/ros_ws/src
sudo apt install -y ros-noetic-moveit
apt-get remove -y ros-noetic-moveit*
apt-get remove -y ros-noetic-srdfdom
git clone https://github.com/ros-planning/moveit.git
cd moveit
git checkout 2b881e5e3c4fd900d4d4310f4b12f9c4a63eb5dd
cd ..
git clone https://github.com/ros-planning/moveit_resources.git
cd moveit_resources
git checkout f6a7d161e224b9909afaaf621822daddf61b6f52
cd ..
git clone https://github.com/ros-planning/srdfdom.git
cd srdfdom
git checkout b1d67a14e45133928f9793e9ee143998219760fd
cd ..
apt-get install -y ros-noetic-rosparam-shortcuts
cd ..
catkin_make
catkin_make

this step requires a lot of time…

Note

the fact that there is the same catkin_make twice at the end of the code is not a mistake: it could happen that the compiler crashes due to a lack of free memory. To continue the compilation, just call catkin_make again.

(optional) Install the documentation system

Note

Do it only if you’re also interested in refreshing the documentation of the project.

This is the script to use for setting up Doxygen plus Sphinx, and some other components such as PlantUML.

# doxygen
sudo apt-get install -y doxygen
sudo apt-get install -y doxygen-gui

# sphinx
apt-get install python-setuptools python-dev build-essential  -y
pip3 install sphinx==4.5.0
pip3 install sphinxcontrib-fulltoc
pip3 install rst2pdf
pip3 install sphinxcontrib-needs
pip3 uninstall docutils -y
pip3 install docutils
pip3 install sphinx-needs

# breathe
pip3 install breathe
pip3 install sphinx-rtd-theme
pip3 install myst-parser

# openjdk 13
sudo apt-get install -y openjdk-13-jre

# plantUML
sudo apt-get install -y graphviz
pip3 install sphinxcontrib-plantuml

Download the repository

It’s time to download and install the project RCL#3 ! You can use this quick bash script for downloading and compiling the project:

cd /root/ros_ws/src
git clone https://github.com/programmatoroSeduto/ExperimentalRoboticsLab-Assignment-3.git -b main ./erl3
cd ..
catkin_make

Install the simulation environment

The simulation environment requires the ArUco markers available in your Gazebo installation. You can quickly do that using this bash command:

cp -r /root/ros_ws/src/erl3/robocluedo_dependencies/worlds/models/* /root/.gazebo/models

Test out the project!

The project has been compiled. You’re ready to try it! See how to run the project for further informations about how to run the architecture.