- Install the ROS. Instructions for ROS indigo on Ubuntu 14.04.
- Setup your ROS environment.
- Build catkin workspace for jsk_picking_challenge:
$ mkdir -p ~/ros/ws_jsk_picking_challenge/src
$ cd ~/ros/ws_jsk_picking_challenge/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/2014-semi/master/jsk_picking_challenge.rosinstall
$ cd ..
$ rosdep install -y -r --from-paths .
$ sudo apt-get install python-catkin-tools ros-indigo-jsk-tools
$ catkin build
$ source devel/setup.bash- Edit
/etc/hosts:
133.11.216.214 baxter 011310P0014.local
- Add below in your
~/.bashrc:
$ rossetmaster baxter.jsk.imi.i.u-tokyo.ac.jp
$ rossetip
- Setup Kinect2: Instructions at code-iai/iai_kinect2
- Setup rosserial + vacuum gripper: Write below in
/etc/udev/rules.d/90-rosserial.rules:
# ATTR{product}=="rosserial"
SUBSYSTEM=="tty", MODE="0666"
- Setup SSH: Write below in
~/.ssh/config:
Host baxter
HostName baxter.jsk.imi.i.u-tokyo.ac.jp
User ruser # password: rethink
$ roslaunch jsk_2014_picking_challenge baxter.launch
$ roslaunch jsk_2014_picking_challenge setup.launch
$ roslaunch jsk_2014_picking_challenge main.launch json:=`rospack find jsk_2014_picking_challenge`/data/apc-a.json
$ roslaunch jsk_2014_picking_challenge record.launch # rosbag record- Run below to synchronize the time with robot. Time synchronization is crucial.:
$ sudo ntpdate baxter.jsk.imi.i.u-tokyo.ac.jp
$ catkin run_tests jsk_2014_picking_challenge --start-with-this --no-deps