Amazon Picking Challenge

APC ROS software for team Georgia Tech, lead by Eric Huang

Install

In your repos directory

git@github.com:miloyip/rapidjson.git cd rapidjson mkdir build cd build cmake .. make sudo make install

In your catkin_workspace

git clone git@github.gatech.edu:ehuang3/apc_ros.git cd apc_ros git submodule update --init

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install libpcl-all

sudo apt-get install ros-indigo-moveit-full sudo apt-get install ros-indigo-openni2-camera ros-indigo-openni2-launch sudo apt-get install binutils-dev

ROS packages

cd catkin_ws git repositories (These belong in your catkin_ws/src) git clone git@github.gatech.edu:ehuang3/moveit_core.git git clone git@github.gatech.edu:ehuang3/moveit_ros.git cd moveit_ros git checkout apc git pull cd .. git clone git@github.gatech.edu:ehuang3/geometric_shapes.git git clone git@github.com:ehuang3/robot_calibration.git git clone git@github.com:ros/urdfdom.git cd urdfdom wget https://raw.github.com/ros-gbp/urdfdom-release/debian/ROS_DISTRO/UBUNTU_DISTRO/urdfdom/package.xml cd urdf_parser_py sudo python setup.py install cd ../..

Then catkin_make

roslaunch apc_moveit_config setup_assistant.launch click "load files" in the bottom right go to configure add the .setup thing at the bottom of configure generate, then you are done

Ceres

sudo apt-get install libgoogle-glog-dev sudo apt-get install libatlas-base-dev sudo apt-get install libeigen3-dev sudo apt-get install libsuitesparse-dev sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687 sudo apt-get update sudo apt-get install libsuitesparse-dev

Do this in your repos directory

wget http://ceres-solver.org/ceres-solver-1.10.0.tar.gz tar zxf ceres-solver-1.10.0.tar.gz mkdir ceres-bin cd ceres-bin cmake ../ceres-solver-1.10.0 make -j3 make test make install

Matlab stuff

To install python matlab engine

in matlab, type "matlabroot" cd to matlabroot/extern/engines/python sudo python setup.py install

sudo apt-get install csh sudo pip install pymatlab echo "export PATH=/usr/local/MATLAB/R02014b/bin:$PATH" >> ~/.bashrc

source ~/.bashrc

Fixing time issues

sudo apt-get install chrony sudo ntpdate patlabor (patlabor must have chrony installed)

Running Stuff

roslaunch apc_moveit_config demo_movegroup.launch roslaunch apc_moveit_config demo_rviz.launch roslaunch apc_launch apc_kinect2.launch