Edit on GitHub

Getting Started

OS Install

Ubuntu 16.04 LTS is installed on PCs in the THORMANG3 and the PC for Remote Control Version.

NOTE : Install Ubuntu Desktop

Network Setting

This section explains how to configure the network for MPC(Motion PC) and PPC(Perception PC) of the robot, as well as the Wi-Fi switch and the OPC(Operating PC).

Access Point Setting

Access Point(AP) Information

AP Server

AP in THORMANG3

PC Setting

MPC (Motion PC)

PPC (Perception PC)

OPC (Operating PC)

ROS Install

ROS(Robot Operating System) is required in order to control THORMANG3. Currently THORMANG3 is developed and tested with Kinetic Kame version of ROS.

NOTE : Install ROS

ROS Environment Setting

NOTE : Environment Setting Reference

NOTE : ROS Network Setup Reference

Network Setting Example

Above configuration has to be repeatedly done whenever a new terminal window is created. The following method will load configuration file when creating a terminal window. ROS Network setup is also performed when the configuration file is loaded.

System configuration

Example setting for PPC

  1. Open the bash file with an editor to apply configuration.
     $ gedit ~/.bashrc
    
  2. Append below contents at the end of the .bashrc file.
     # Set ROS Kinetic
     source /opt/ros/kinetic/setup.bash
     source ~/catkin_ws/devel/setup.bash
    
     ##### Set ROS Network ####
     # PPC CORE(10.17.3.35)
     export ROS_MASTER_URI=http://10.17.3.35:11311
    
     # local ROS IP
     export ROS_IP=10.17.3.35
    
  3. Use below command to apply modified configuration or open a new terminal window.
     $ source ~/.bashrc
    

Example setting for MPC

  1. Open the bash file with an editor to apply configuration.
     $ gedit ~/.bashrc
    
  2. Append below contents at the end of the .bashrc file.
     # Set ROS Kinetic
     source /opt/ros/kinetic/setup.bash
     source ~/catkin_ws/devel/setup.bash
    
     ##### Set ROS Network ####
     # PPC CORE(10.17.3.35)
     export ROS_MASTER_URI=http://10.17.3.35:11311
    
     # local ROS IP
     export ROS_IP=10.17.3.30
    
  3. Use below command to apply modified configuration or open a new terminal window.
     $ source ~/.bashrc
    

Example setting for OPC

  1. Open the bash file with an editor to apply configuration.
     $ gedit ~/.bashrc
    
  2. Append below contents at the end of the .bashrc file.
     # Set ROS Kinetic
     source /opt/ros/kinetic/setup.bash
     source ~/catkin_ws/devel/setup.bash
    
     ##### Set ROS Network ####
     # PPC CORE(10.17.3.35)
     export ROS_MASTER_URI=http://10.17.3.35:11311
    
     # local ROS IP
     export ROS_IP=10.17.3.100
    
  3. Use below command to apply modified configuration or open a new terminal window.
     $ source ~/.bashrc
    

Time Synchronization

In order to run the ROS on multiple PCs, each PC clock has to be synchronized. The following script file comes in handy for this synchronization procedure. PPC time becomes the reference for synchronization, and perform below procedures only for MPC and OPC.

  1. Create the script file with an editor.
     $ gedit ~/timesync
    
  2. Copy and paste below contents to the script file
     #! /bin/sh
     sudo date --set='-2 secs'
     sudo ntpdate 10.17.3.35
     sudo hwclock -w
     PPC(10.17.3.35)
    
  3. Modify the script file permission(Add execute permission)
     $ sudo chmod +x timesync
    
  4. Run the script file to sync time for PPC, MPC and OPC.
     $ ~/timesync
    

ROBOTIS ROS Package Install

This section introduces how to install the ROBOTIS ROS Package for THORMANG3.

MPC Installation

Install the ROBOTIS ROS Package from the MPC. The ROS Package is installed by default.

  1. Download Packages from GitHub to the source folder in the catkin workspace.
     $ cd ~/catkin_ws/src
     $ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-Common.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-Tools.git
    
  2. After installing all dependent packages, go to the workspace and build. Use j1 option when building for the first time.
     $ cd ~/catkin_ws
     $ catkin_make -j1
    
  3. Find ft_calibration_data.yaml and ft_data.yaml from provided USB and copy them to thormang3_manager/config/.

PPC Installation

Install the ROBOTIS ROS Package from the PPC. The ROS Package is installed by default.

  1. Download Packages from GitHub to the source folder in the catkin workspace.
     $ cd ~/catkin_ws/src
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-PPC.git
    
  2. After installing all dependent packages, go to the workspace and build. Use j1 option when building for the first time.
     $ cd ~/catkin_ws
     $ catkin_make -j1
    

OPC Installation

Install the ROBOTIS ROS Package from the OPC.

  1. Download Packages from GitHub to the source folder in the catkin workspace.
     $ cd ~/catkin_ws/src
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-OPC.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs.git
     $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-Common.git
    
  2. After installing all dependent packages, go to the workspace and build. Use j1 option when building for the first time.

    NOTE : Dependencies : qt-ros, map_server, nav_msgs, humanoid_nav_msgs, sbpl, octomap-ros

    NOTE : sbpl needs to be installed manually. Please follow the sbpl install instruction.

     $ sudo apt install ros-kinetic-map-server
     $ sudo apt install ros-kinetic-humanoid-nav-msgs
     $ sudo apt install ros-kinetic-octomap ros-kinetic-octomap-msgs ros-kinetic-octomap-ros ros-kinetic-octomap-server
     $ sudo apt install ros-kinetic-qt-ros
     $ cd ~/catkin_ws/src
     $ git clone https://github.com/AravindaDP/humanoid_navigation.git
     $ cd ~/catkin_ws
     $ catkin_make -j1
    
  3. Troubling Shot for libGL in 64bit Ubuntu

    Reference : Link

Update

When the source is modified, update & build is necessary.

  1. Go to the folder where source is copied and run the pull command.(ex : ROBOTIS-THORMANG-OPC)
     $ cd ~/catkin_ws/src/ROBOTIS-THORMANG-OPC
     $ git pull
    
  2. Build
     $ cd ~/catkin_ws
     $ catkin_make
    

Additional ROS Package Install

The followings are required ROS Packages for THORMANG3 when installing desktop-full.

ROS Packages for MPC

Install below ROS Packages from the MPC. The Package is installed by default.

urg_node : ROS Package for Lidar

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/urg_node
$ git clone https://github.com/ros-drivers/urg_c
$ git clone https://github.com/ros-perception/laser_proc

Reference : http://wiki.ros.org/urg_node

ROS Packages for PPC

Install the below ROS Package from the PPC. The Package is installed by default.

uvc_camera : ROS Package for USB camera

$ sudo apt install libv4l-dev
$ cd ~/catkin_ws/src
$ git clone https://github.com/ktossell/camera_umd

Reference : http://wiki.ros.org/uvc_camera

realsense

Reference : http://wiki.ros.org/RealSense