Installation instructions

Pre requirements

1. ROS electric installed

   • Ubuntu install of Electric

2. Electric Care-O-bot installed

   • Care-o-bot install of Electric

3. Git has been configured properly

   • sudo apt-get install git-core curl 
     wget https://github.com/ipa320/setup/raw/master/githelper -N --no-check-certificate
     chmod 755 githelper
     ./githelper setup

Download srs, srs_public and their dependencies

1. (Only for the 1st time) Make sure all related packages have been forked

   • https://help.github.com/articles/fork-a-repo

2. Clone the packages to your local machine

   • ./githelper clone -s COMMA_SEPARATED_LIST_OF_PACKAGES_NO_SPACE

     for example, you may replace COMMA_SEPARATED_LIST_OF_PACKAGES_NO_SPACE with

     srs_public,srs_common,srs_data,cob_apps,cob_command_tools,cob_object_perception,cob_extern,cob_simulation,cob_environment_perception,cob_robots,cob_common,cob_driver,cob_environments,cob_manipulation,schunk_modular_robotics,cob_object_manipulation,schunk_robots,cob_scenarios,cob_navigation,cob_calibration,cob_people_perception,cob_calibration_data,cob_perception_common,cob_substitute

3. This step is for registered users only, you need clone the private srs repository. It comes with srs_object_database, which is needed for the scenario and the optinal binary code of iPad and Android apps.

   • ./githelper clone -s srs

4. Install additional dependency from ROS

   • sudo apt-get install ros-electric-sql-database ros-electric-object-manipulation ros-electric-brown-remotelab

5. (Optional) Packages in your local and remote branch can be updated using

   • ./githelper merge 

6. (Optional) Download srs_ui_pro and skype kit following the instruction listed in http://www.ros.org/wiki/srs_ui_pro

Setup the environment variables

• bashrc for srs looks like below

  source /opt/ros/electric/setup.bash
  export ROS_PACKAGE_PATH=~/git/care-o-bot:$ROS_PACKAGE_PATH
  export JAVA_HOME=/usr/lib/jvm/default-java
  export ROBOT=cob3-3
  export ROBOT_ENV=ipa-kitchen

  export ROS_PACKAGE_PATH=~/git/care-o-bot:$ROS_PACKAGE_PATH

  ~/git/care-o-bot is default location of the source code to be downloaded, they are added to the ROS_PACKAGE_PATH

  export ROBOT=cob3-3

  cob3-3 is the name of the robot applied in the simulation and the test

  export ROBOT_ENV=ipa-kitchen

  ipa-kitchen is the name of the testing environment as well as the name for the semantic map, it can be replaced by other maps such as srs-milano2012

Configure srs_object_database

• srs_object_database can be configured using the instruction specified in here

Install openrave

• sudo add-apt-repository ppa:openrave/release
  sudo apt-get update
  sudo apt-get install openrave

  More details can be found from here

Building the source codes

1. make srs_scenario

   • rosdep install srs_scenarios  
     rosmake srs_scenarios  

   • It will make most of the package required by the scenarios.
2. make srs_assisted_arm_navigation

   • rosdep install srs_assisted_arm_navigation
     rosmake srs_assisted_arm_navigation

As there is a potential conflict between openrave binary and Ubuntu assimp library. This package is made seperately. The rest of the scenario would still work without the part.

To avoid the problem, either hold the Ubuntu version of the assimp or copy the missing header files manually into /usr/include/assimp/

Next tutorial

Use SRS without IPad or Smartphone under command consoles