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INSTALL.md

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Installation

Guide for installing, compiling and testing the human_robot_collaboration package in your ROS environment. This tutorial should be useful regardless of your skill level, from a first-time ROS user to an experienced engineer.

Prerequisites

System Dependencies

This repository needs nlopt and std-c++14.

NLOPT

sudo apt-get install libnlopt-dev

C++14

Building human_robot_collaboration requires that you have C++14 supported on your computer in some fashion. C++14 is not available by default on Ubuntu 14.04, so your best bet is to get a gcc version that supports it (from gcc-4.9 upwards). From here):

sudo apt-get install build-essential software-properties-common
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-snapshot gcc-4.9 g++-4.9

If you have other versions of gcc installed already (Ubuntu 14.04 comes with gcc-4.8 by default), you might need to select gcc-4.9 as default. You can do this by typing sudo update-alternatives --config gcc and following the instructions in the terminal. Or you can also try using sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-4.9. To see if you got the correct version of gcc, you can check the gcc version by:

gcc -v

ROS Dependencies

This repository supports ROS indigo, although more recent versions should work just fine. Here's a not-so-recent guide on how to install ROS.

Catkin Tools

We use the new Catkin Command Line Tools catkin_tools, a Python package that provides command line tools for working with the catkin meta build system and catkin workspaces. This package was announced in March 2015 and is still in beta, but we didn't experience any problem with it. The following instructions apply to this new package, even though the repository can be used and compile with the old catkin_make without issues.

sudo apt-get install python-catkin-tools

ROS Package Dependencies

  • aruco_ros: you should use this version of aruco_ros which is a fork of (https://github.com/pal-robotics/aruco_ros)
  • trac_ik : for the time being, you should use this version of trac_ik. It is a fork of the original trac_ik.
  • baxter_description: it is used for testing the robot_interface library. It can be downloaded from the baxter_common repository, available here.
  • svox_tts : it's a SVOX-PICO based wrapper for text-to-speech. It's not necessary, but recommended. Available here.
  • ros_speech2text : Our ROS wrapper for speech-to-text through the Google API. Not necessary, but recommended. Available here.
  • rosbridge : it provides a JSON interface to ROS, allowing any client to send JSON to publish or subscribe to ROS topics, call ROS services, and more. Used for our web applications. Not necessary, but recommended. Available here.

Compilation & Testing

Create a new ROS workspace

It is good practice to separate your development workspace from the workspace in which ROS resides. So, let's create and initialize a new workspace called hrc_ws into an already existing code folder.

mkdir -p ~/code/hrc_ws/src
cd ~/code/hrc_ws
catkin init
catkin build

The last build command should assure you that everything works. Now you should add the following line to your .bashrc:

source $HOME/code/hrc_ws/devel/setup.bash

Download dependencies

Mandatory dependencies:

cd ~/code/hrc_ws/src
git clone https://github.com/ScazLab/aruco_ros
git clone https://bitbucket.org/alecive/trac_ik.git
git clone https://github.com/RethinkRobotics/baxter_common.git

To avoid downloading all the dependencies needed to compile track_ik_kinematics_plugin, we need to tell catkin to ignore it:

cd ~/code/hrc_ws/src/trac_ik/trac_ik_kinematics_plugin
touch CATKIN_IGNORE

Optional (but recommended) dependencies:

cd ~/code/hrc_ws/src
git clone https://github.com/ScazLab/svox_tts.git
git clone https://github.com/RobotWebTools/rosbridge_suite.git
git clone https://github.com/scazlab/ros_speech2text.git

And finally:

cd ~/code/hrc_ws/src
git clone https://github.com/ScazLab/human_robot_collaboration.git

Compilation & Testing

Compile human_robot_collaboration:

cd ~/code/hrc_ws
catkin build human_robot_collaboration

Compile tests and run them:

catkin build human_robot_collaboration --catkin-make-args run_tests

Check the results of the tests:

catkin build human_robot_collaboration_lib --catkin-make-args run_tests && catkin_test_results build/human_robot_collaboration_lib