Ubuntu installation

In order to run the public simulation of TIAGo it is preferable to get a fresh installation of Ubuntu 18.04.2 LTS as follows

  • wget http://releases.ubuntu.com/18.04/ubuntu-18.04.2-desktop-amd64.iso

Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.

ROS + Tiago installation

Set up ROS packages sources

In order to install the required ROS packages for running TIAGo's simulation first, as explained in ROS Melodic installation, it is required to include packages.ros.org in the debian sources:

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'


Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

ROS packages installation

install use the following instruction

  • sudo apt-get update
    sudo apt-get install git python-rosinstall ros-melodic-desktop-full python-catkin-tools ros-melodic-joint-state-controller ros-melodic-twist-mux ros-melodic-ompl ros-melodic-controller-manager ros-melodic-moveit-core ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-move-group ros-melodic-moveit-kinematics ros-melodic-moveit-ros-planning-interface ros-melodic-moveit-simple-controller-manager ros-melodic-moveit-planners-ompl ros-melodic-joy ros-melodic-joy-teleop ros-melodic-teleop-tools ros-melodic-control-toolbox ros-melodic-sound-play ros-melodic-navigation ros-melodic-depthimage-to-laserscan ros-melodic-moveit-commander

Append the following command to ~/.bashrc to allow any console to use the catkin commands

  • source /opt/ros/melodic/setup.bash

Source-based installation

These instructions assume that you are comfortable with ROS and the catkin build #previewsystem. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

  • mkdir ~/tiago_dual_public_ws
    cd ~/tiago_dual_public_ws

Then run the following instruction in order to download tiago_dual_public.rosinstall and clone all the required repositories within the workspace:

  • wget https://raw.githubusercontent.com/pal-robotics/tiago_dual_tutorials/master/tiago_dual_public-melodic.rosinstall
    rosinstall src /opt/ros/melodic tiago_dual_public.rosinstall

Set up rosdep

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install --from-paths src --ignore-src -y --rosdistro melodic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup slam_toolbox joint_impedance_trajectory_controller cartesian_impedance_controller omni_base_description omni_drive_controller"

Then, you may proceed building the workspace:

  • source /opt/ros/melodic/setup.bash
    catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

To check that everything is properly installed run the TIAGo++ simulation tutorial

Wiki: Robots/TIAGo++/Tutorials/Installation/Ubuntu_melodic (last edited 2022-09-14 15:13:57 by thomaspeyrucain)