ISRWiki - User contributions [en]

Vislab

2011-03-30T15:59:28Z

Lestergarcia: /* Tutorials */

Institutional information:
http://vislab.isr.ist.utl.pt

Our YouTube channel, containing nice videos and demonstrations:
http://www.youtube.com/user/VislabLisboa

Our internal video page on this wiki:
[[VisLab Videos]]

== Research Topics ==

* Machine Learning
* Computer Vision

== Projects ==

=== Current projects ===

* First-MM - Flexible Skill Acquisition and Intuitive Robot Tasking for Mobile Manipulation (EC FP7, Feb. 2010 - Jul. 2013)
** http://www.first-mm.eu/
** The goal of First-MM is to build the basis for a new generation of autonomous mobile manipulation robots that can flexibly be instructed to perform complex manipulation and transportation tasks. The project will develop a novel robot programming environment that allows even non-expert users to specify complex manipulation tasks in real-world environments. In addition to a task specification language, the environment includes concepts for probabilistic inference and for learning manipulation skills from demonstration and from experience.
* HANDLE - Developmental Pathway Towards Autonomy and Dexterity in Robot In-Hand Manipulation (EC FP7, Feb. 2009 - Feb. 2013)
** http://www.handle-project.eu
** This project aims at providing advanced perception and control capabilities to the Shadow Robot hand, one of the most advanced robotic hands in mechanical terms. We follow some paradigms of human learning to make the system able to grasp and manipulate objects of different characteristics: learning by imitation and by self-exploration. Different object characteristics and usages (object affordances) determine the way the hand will perform the grasping and manipulation actions.
* RoboSoM - A Robotic Sense of Movement (EC FP7, Dec. 2009 - Dec. 2012)
** http://www.robosom.eu/
** This project aims at advancing the state-of-the-art in motion perception and control in a humanoid robot. The fundamental principles to explore are rooted on theories of human perception: Expected Perception (EP) and the Vestibular Unified Reference Frame.

=== Past projects ===

* RobotCub - Robotic Open-Architecture Technology for Cognition, Understanding and Behaviour (EC FP6, Sept. 2004 - Jan. 2010)
** http://www.robotcub.org
* URUS - Ubiquitous Networking Robotics in Urban Settings (EC FP6, Dec. 2006 - Nov. 2009)
** http://urus.upc.es
* CAVIAR - Context-Aware Vision Using Image-Based Active Recognition (EC FP6, 2002 - 2005)
** http://homepages.inf.ed.ac.uk/rbf/CAVIAR/
* MIRROR - Mirror Neurons for Recognition (EC FP5, 2001 - 2004)

== People ==

=== Permanent staff ===

* [http://users.isr.ist.utl.pt/~jasv/ José Santos-Victor]
* [http://users.isr.ist.utl.pt/~alex Alexandre Bernardino]
* [http://users.isr.ist.utl.pt/~jpc/ João Paulo Costeira]
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=2 João Sentieiro]
* [http://users.isr.ist.utl.pt/~jag/ José Gaspar]

=== Researchers ===

* [http://users.isr.ist.utl.pt/~plinio/ Plinio Moreno]
* [http://users.isr.ist.utl.pt/~ricardo/ Ricardo Ferreira]

=== PhD students ===

* Bruno Damas
* Dario Figueira
* [http://users.isr.ist.utl.pt/~gsaponaro/ Giovanni Saponaro]
* Jonas Hörnstein
* Jonas Ruesch
* [http://users.isr.ist.utl.pt/~mtaiana/ Matteo Taiana]
* Nuno Moutinho
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=105 Pedro Ribeiro]
* Ravin DeSouza ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Sébastien Gay ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Urbain Prieur (IST-UPMC)

=== Master's students ===

* Ashish Jain
* Duarte Aragão
* Filipe Veiga
* Lester García
* Marco Henriques

=== Other staff ===

* Ana Santos (administrative)
* Nuno Conraria (engineering)
* Ricardo Nunes (engineering)

=== Miscellaneous ===

* [http://roboticslab.uc3m.es/roboticslab/persona.php?id_pers=42 Carla González], Universidad Carlos III de Madrid, Spain
* [http://www.speech.kth.se/~giampi/ Giampiero Salvi], Royal Institute of Technology, Sweden
* [http://webdiis.unizar.es/~montesan/ Luis Montesano]
* Luís Vargas
* [http://www.isr.ist.utl.pt/~macl Manuel Lopes]
* Martim Brandão
* Mauricio Arias, Escuela de Ingeniería de Antioquia, Colombia
* [http://nicolagreggio.altervista.org/ Nicola Greggio], Sant'Anna School of Advanced Studies, Pisa, Italy
* [http://www.gatv.ssr.upm.es/index.php/en/component/content/article/62 Nuria Sánchez], Universidad Politécnica de Madrid, Spain
* [http://users.isr.ist.utl.pt/~rmcantin Rubén Martínez-Cantín]

=== Past members ===

* Afshin Dehghan
* Anastácia Rodrigues (administrative)
* António Bastos
* Bruno Dias
* Carlo Favali, visiting PhD student, University of Genoa, Italy
* Carlos Carreira, University of Valencia, Spain
* César Silva, Ph.D. (2001)
* Christian Wressnegger
* Claudia Deccó, visiting PhD student, University of São Paulo, Brazil
* Cláudia Soares
* Daniel Matter, IAESTE intern
* Diego Ortín, visiting PhD student, University of Zaragoza, Spain
* Etienne Grossmann
* Eval Bacca Cortes, visiting MSc student, University of Cali, Colombia
* Freek Stulp, visiting researcher, University of Groningen, The Netherlands and University of Edinburgh, UK
* Gianluca De Leo, University of Genoa, Italy
* Ivana Cingovksa, IAESTE intern
* [http://webdiis.unizar.es/~jminguez/ Javier Minguez], visiting PhD student, University of Zaragoza, Spain
* [http://users.isr.ist.utl.pt/~maciel/ João Maciel], Ph.D. (2002)
* João Pimentel
* José Eduardo Vianna, Universidade Federal do Espírito Santo, Brazil
* Kristijan Petkov, summer 2010 IAESTE intern
* Lenildo Silva, visiting PhD student, Universidade Federal do Rio de Janeiro, Brazil
* Luís Jordão
* Marco Zucchelli, visiting PhD student, Royal Institute of Technology, Sweden
* Maria Nazarycheva
* Matteo Perrone, University of Genoa, Italy
* Miguel Praça
* Mišél Batmendijn
* Mohit Khurana, summer 2008 intern
* Niall Winters, visiting PhD student, Trinity College, Dublin, Ireland
* Nuno Gracias
* Nuno Pinho
* Raquel Vassallo, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* Ricardo Beira
* [http://users.isr.ist.utl.pt/~rco/ Ricardo Oliveira]
* Roberto Iannello, University of Genoa, Italy
* Roger Castro Freitas, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* Sandra Nope Rodríguez
* Sjoerd van der Zwaan, M.Sc. (2001)
* Tayebeh Razmi
* Vicente Javier Traver
* Verica Krunić
* Vítor Costa, M.Sc. (1999)

== Material ==

[[Book Wish List]]

== Robots ==

* [[Baltazar]]
* [[Chico]] (iCubLisboa01)
* [[Chica]]
* [[Vizzy]]

== Other resources ==

=== Cortex cluster ===

''For information on the setup of this cluster, see [[Cortex]].''

=== Demos ===

* [[Binocular Head]]
* [[Imitation]]
* [[Surveillance]]

=== iCubBrain cluster ===

''For information on the setup of this cluster, see [[iCubBrain server configuration]].''

=== Network ===

''See the [[VisLab network]] article.''

=== SVN repository ===

You can find the VisLab SVN repository at:
svn://svn.isr.ist.utl.pt/vislab

=== Tutorials ===

* [[3D ball tracker]]
* [[OpenRAVE Tutorial]]
* [[ROS Tutorial]]

=== Useful links ===

* [[Checklist for new VisLab members]]
* YARP for iCub: [[RobotCub coding basics]]
* iCub Joints: http://eris.liralab.it/wiki/ICub_joints
* iKinArmCtrl: http://eris.liralab.it/iCub/dox/html/group__iKinArmCtrl.html
* [[Temp 2010-11 iCub system update]]
* [[Software installation tricks]]

== VisLab category ==

The page ''Category:Vislab'' (linked below) lists all pages related to VisLab.

[[Category:Learning]]
[[Category:Robots]]
[[Category:Vislab]]

OpenRAVE Tutorial

2011-03-14T18:40:22Z

Lestergarcia: /* Testing OpenRAVE */

Note: ''this tutorial is under construction''.

This is a step-by-step "How to Use OpenRAVE" Tutorial, and is intended to be a guide to learn from the scratch how to program simulations in this open source simulator. If you have some knowledge or experience on using this software, we recommend you to see the OpenRAVE Just Use It webpage.

= What is OpenRAVE? =

The Open Robotics Automation Virtual Environment (OpenRAVE) is an open-source cross-platform software architecture that is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control.

A plugin architecture allows users to easily write custom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with monolithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. Because OpenRAVE is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols, it can be used in conjunction with other popular robotics packages such as ROS.

OpenRAVE supports a powerful scripting environment based on Python which makes it simple to control and monitor the demo and environment state. There are also supported interfaces for Octave and Matlab.

OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

= Foreword =

First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.

Second: you can find the official web page of Rosen Diankov's OpenRAVE, [http://openrave.programmingvision.com/index.php/Main_Page here]. Although you will find better first hand information in the official web page, if you are a newbie, we better recommend to start with this tutorial that introduces gradually most of the modules that you will be using within this simulator.

Third: although OpenRAVE is a cross-platform, this tutorial is just Linux-oriented, so, if you are a Windows user, perhaps you won't find this tutorial that useful.

The rest is about to be LEARNED... Have some fun!!

= How to Install OpenRAVE =

In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE]. In order to install easily, we have written a installation script that automates the process. Just download the script, change it to an executable, and run it.

wget http://mediawiki.isr.ist.utl.pt/images/1/1a/Install_openRAVE.tar.gz
tar -xzvf Install_openRAVE.tar.gz
rm Install_openRAVE.tar.gz
chmod u+x Install_openRAVE.sh
Install_openRAVE.sh

Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

= Testing OpenRAVE =

To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

openrave -listplugins

The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

openrave.py --listexamples

This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.

== OpenRAVE Default Viewer ==

Before running any demo, it's important that you learn how to interact with the Coin3D GUI window, because Virtual Environments and 3D Models are shown in this window, and most of the time, you will find yourself willing to change the view perspectives, and other stuffs.

In the following Figure, we show the default OpenRAVE Viewer that is Qt-Coin3D. We have pointed five principal buttons that you will use more frequently.

[[Image:Openrave Window.png]]

# '''Menu View'''. In this menu, you will find the simulated camera parameters (that generates the actual view of the world), the Geometry, where you can switch between render & collision geometries of the objects, the frame rate of communication between the viewer and the core of the OpenRAVE, and the World Reference Frame (world axis).
# '''Menu Options'''. Here you will find as is expectable, some options for the simulation, like turning on the physics engine & the collision checkers, record the simulation etc.
# '''Arrow icon button'''. By default, this button is activated when the window is launched. This arrow indicates that your mouse pointer is in the “View Mode”. This means that you can rotate the view, pan & tilt, zoom in & out, etc. but you can not interact with the objects.
# Hand icon button. When you press this button, you are switching to the “Interaction Mode”.
# '''Eye icon button'''. This is a very helpful tool, because by pressing this button, the whole scene, will be automatically center in the window, so, if you initialize with an uncomfortable view, just click in the eye, and you will see the whole scene.

OK, let's open our first experimental 3D World, that, in OpenRAVE we call Environment. The next instruction will open the Baltazar experimental environment. Try changing the views, also try to move the Robot and the objects, and finally, see what happens if you activate the physics engine with the gravity pointing to -Z. Notice that you can toggle between view-mode and interaction-mode pressing [Esc]. To move objects just wrap them, and to move joints, click in the link while holding [Ctrl]. Now, to launch the environment, if you have installed the OpenRAVE VisLab Edition, then in Terminal just type..:

openrave Vislab/OR4_Envs/Baltazar_at_Vislab.env.xml

You should see a window similar to the next figure.

[[Image:Baltazar Env.png]]

In the remaining of this section, will be exploring the power of OpenRAVE by running some demos.

== OpenRAVE Demos ==

Let's begin testing the physics engine [http://www.ode.org/ ODE]. Just type in Terminal..:

openrave.py --example testphysics

This is an example of how the physics engine works when activated. You will see that the robot is not remaining in a fixed position and Orientation. Why is that? Let's run another example to answer this question. In terminal just type..:

openrave.py --example testphysics_controller

This second demo, is the one that actually demonstrates the physics engine with the Motor Controller of a PUMA. In the last demo, the controller was not defined and there were no such a thing like a force that maintain (or at least try to) the position and orientation of the links of the Robot. The physics engine also simulates the gravity, and because of that, if you do not declare the weight of the bodies in the environment, every time you activate the gravity simulation, you will see all this objects floating away in the scene.

A third example that give us a demonstration of a Robot grasping objects, is the following..:

openrave.py --example hanoi

So far, we have seen examples of a Robot moving and interacting with objects, but OpenRAVE also give us the possibility of simulate Cameras and other sensors. Let's see an example with cameras.

openrave.py --example calibrationviews

So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

When experimenting with simulations in OpenRAVE, mainly we have the following stages:

# '''Geometric Modelling'''.
# '''Knowledge base generation'''.
# '''Scripting'''.
# '''Interfacing Simulations'''.

These will be discussed in the next sections...

= Geometric Modelling =

Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
[[Geometric Modelling in OpenRAVE]]

= Knowledge Base Generation =

'''...This Section is not available yet'''.
When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

= Scripting =

'''...This Section is not available yet'''.
Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

We present some Demos here:

'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.

'''Planning & Manipulation'''.

'''Grasping'''.

'''Mobile Manipulation'''.

'''Human Imitation'''.

= Interfacing Simulations =

'''...This Section is not available yet'''.
We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

OpenRAVE Tutorial

2011-03-14T18:35:02Z

Lestergarcia: /* How to Install OpenRAVE DEPRICATED */

Note: ''this tutorial is under construction''.

This is a step-by-step "How to Use OpenRAVE" Tutorial, and is intended to be a guide to learn from the scratch how to program simulations in this open source simulator. If you have some knowledge or experience on using this software, we recommend you to see the OpenRAVE Just Use It webpage.

= What is OpenRAVE? =

The Open Robotics Automation Virtual Environment (OpenRAVE) is an open-source cross-platform software architecture that is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control.

A plugin architecture allows users to easily write custom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with monolithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. Because OpenRAVE is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols, it can be used in conjunction with other popular robotics packages such as ROS.

OpenRAVE supports a powerful scripting environment based on Python which makes it simple to control and monitor the demo and environment state. There are also supported interfaces for Octave and Matlab.

OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

= Foreword =

First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.

Second: you can find the official web page of Rosen Diankov's OpenRAVE, [http://openrave.programmingvision.com/index.php/Main_Page here]. Although you will find better first hand information in the official web page, if you are a newbie, we better recommend to start with this tutorial that introduces gradually most of the modules that you will be using within this simulator.

Third: although OpenRAVE is a cross-platform, this tutorial is just Linux-oriented, so, if you are a Windows user, perhaps you won't find this tutorial that useful.

The rest is about to be LEARNED... Have some fun!!

= How to Install OpenRAVE =

In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE]. In order to install easily, we have written a installation script that automates the process. Just download the script, change it to an executable, and run it.

wget http://mediawiki.isr.ist.utl.pt/images/1/1a/Install_openRAVE.tar.gz
tar -xzvf Install_openRAVE.tar.gz
rm Install_openRAVE.tar.gz
chmod u+x Install_openRAVE.sh
Install_openRAVE.sh

Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

= Testing OpenRAVE =

To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

openrave –listplugins

The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

openrave.py –listexamples

This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.

== OpenRAVE Default Viewer ==

Before running any demo, it's important that you learn how to interact with the Coin3D GUI window, because Virtual Environments and 3D Models are shown in this window, and most of the time, you will find yourself willing to change the view perspectives, and other stuffs.

In the following Figure, we show the default OpenRAVE Viewer that is Qt-Coin3D. We have pointed five principal buttons that you will use more frequently.

[[Image:Openrave Window.png]]

# '''Menu View'''. In this menu, you will find the simulated camera parameters (that generates the actual view of the world), the Geometry, where you can switch between render & collision geometries of the objects, the frame rate of communication between the viewer and the core of the OpenRAVE, and the World Reference Frame (world axis).
# '''Menu Options'''. Here you will find as is expectable, some options for the simulation, like turning on the physics engine & the collision checkers, record the simulation etc.
# '''Arrow icon button'''. By default, this button is activated when the window is launched. This arrow indicates that your mouse pointer is in the “View Mode”. This means that you can rotate the view, pan & tilt, zoom in & out, etc. but you can not interact with the objects.
# Hand icon button. When you press this button, you are switching to the “Interaction Mode”.
# '''Eye icon button'''. This is a very helpful tool, because by pressing this button, the whole scene, will be automatically center in the window, so, if you initialize with an uncomfortable view, just click in the eye, and you will see the whole scene.

OK, let's open our first experimental 3D World, that, in OpenRAVE we call Environment. The next instruction will open the Baltazar experimental environment. Try changing the views, also try to move the Robot and the objects, and finally, see what happens if you activate the physics engine with the gravity pointing to -Z. Notice that you can toggle between view-mode and interaction-mode pressing [Esc]. To move objects just wrap them, and to move joints, click in the link while holding [Ctrl]. Now, to launch the environment, if you have installed the OpenRAVE VisLab Edition, then in Terminal just type..:

openrave Vislab/OR4_Envs/Baltazar_at_Vislab.env.xml

You should see a window similar to the next figure.

[[Image:Baltazar Env.png]]

In the remaining of this section, will be exploring the power of OpenRAVE by running some demos.

== OpenRAVE Demos ==

Let's begin testing the physics engine [http://www.ode.org/ ODE]. Just type in Terminal..:

openrave.py --example testphysics

This is an example of how the physics engine works when activated. You will see that the robot is not remaining in a fixed position and Orientation. Why is that? Let's run another example to answer this question. In terminal just type..:

openrave.py --example testphysics_controller

This second demo, is the one that actually demonstrates the physics engine with the Motor Controller of a PUMA. In the last demo, the controller was not defined and there were no such a thing like a force that maintain (or at least try to) the position and orientation of the links of the Robot. The physics engine also simulates the gravity, and because of that, if you do not declare the weight of the bodies in the environment, every time you activate the gravity simulation, you will see all this objects floating away in the scene.

A third example that give us a demonstration of a Robot grasping objects, is the following..:

openrave.py --example hanoi

So far, we have seen examples of a Robot moving and interacting with objects, but OpenRAVE also give us the possibility of simulate Cameras and other sensors. Let's see an example with cameras.

openrave.py --example calibrationviews

So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

When experimenting with simulations in OpenRAVE, mainly we have the following stages:

# '''Geometric Modelling'''.
# '''Knowledge base generation'''.
# '''Scripting'''.
# '''Interfacing Simulations'''.

These will be discussed in the next sections...

= Geometric Modelling =

Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
[[Geometric Modelling in OpenRAVE]]

= Knowledge Base Generation =

'''...This Section is not available yet'''.
When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

= Scripting =

'''...This Section is not available yet'''.
Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

We present some Demos here:

'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.

'''Planning & Manipulation'''.

'''Grasping'''.

'''Mobile Manipulation'''.

'''Human Imitation'''.

= Interfacing Simulations =

'''...This Section is not available yet'''.
We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

File:Install openRAVE.tar.gz

2011-03-14T18:16:10Z

Lestergarcia: This is a bash scripts that automates the download and installation of OpenRAVE. Notice that it has been tested just in Ubuntu 10.04 LTS

This is a bash scripts that automates the download and installation of OpenRAVE. Notice that it has been tested just in Ubuntu 10.04 LTS

File:OR Vislab Edition.zip

2011-03-14T17:52:25Z

Lestergarcia: uploaded a new version of "Image:OR Vislab Edition.zip"

This is The VisLab extension for OpenRAVE

OpenRAVE Tutorial

2011-03-14T16:48:55Z

Lestergarcia: /* Install the OpenRAVE VisLab Edition */

Note: ''this tutorial is under construction''.

This is a step-by-step "How to Use OpenRAVE" Tutorial, and is intended to be a guide to learn from the scratch how to program simulations in this open source simulator. If you have some knowledge or experience on using this software, we recommend you to see the OpenRAVE Just Use It webpage.

= What is OpenRAVE? =

The Open Robotics Automation Virtual Environment (OpenRAVE) is an open-source cross-platform software architecture that is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control.

A plugin architecture allows users to easily write custom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with monolithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. Because OpenRAVE is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols, it can be used in conjunction with other popular robotics packages such as ROS.

OpenRAVE supports a powerful scripting environment based on Python which makes it simple to control and monitor the demo and environment state. There are also supported interfaces for Octave and Matlab.

OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

= Foreword =

First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.

Second: you can find the official web page of Rosen Diankov's OpenRAVE, [http://openrave.programmingvision.com/index.php/Main_Page here]. Although you will find better first hand information in the official web page, if you are a newbie, we better recommend to start with this tutorial that introduces gradually most of the modules that you will be using within this simulator.

Third: although OpenRAVE is a cross-platform, this tutorial is just Linux-oriented, so, if you are a Windows user, perhaps you won't find this tutorial that useful.

The rest is about to be LEARNED... Have some fun!!

= How to Install OpenRAVE DEPRICATED=

In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].
We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:

wget http://mediawiki.isr.ist.utl.pt/images/6/60/OR_Vislab_Edition.zip
mkdir $HOME/Desktop/VisLab_Scripts/
mv VisLab_Scripts.zip $HOME/Desktop/VisLab_Scripts/
cd $HOME/Desktop/VisLab_Scripts/
unzip VisLab_Scripts.zip
chmod u+x -R $HOME/Desktop/VisLab_Scripts/
rm VisLab_Scripts.zip
cd

== Install the Mathworks MATLAB DEPRICATED ==

If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_Matlab

The last part of the configuration will be given in the Matlab Scripting Section.

== Install the OpenRAVE VisLab Edition DEPRICATED ==

As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_openRAVE

Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

= Testing OpenRAVE =

To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

openrave –listplugins

The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

openrave.py –listexamples

This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.

== OpenRAVE Default Viewer ==

Before running any demo, it's important that you learn how to interact with the Coin3D GUI window, because Virtual Environments and 3D Models are shown in this window, and most of the time, you will find yourself willing to change the view perspectives, and other stuffs.

In the following Figure, we show the default OpenRAVE Viewer that is Qt-Coin3D. We have pointed five principal buttons that you will use more frequently.

[[Image:Openrave Window.png]]

# '''Menu View'''. In this menu, you will find the simulated camera parameters (that generates the actual view of the world), the Geometry, where you can switch between render & collision geometries of the objects, the frame rate of communication between the viewer and the core of the OpenRAVE, and the World Reference Frame (world axis).
# '''Menu Options'''. Here you will find as is expectable, some options for the simulation, like turning on the physics engine & the collision checkers, record the simulation etc.
# '''Arrow icon button'''. By default, this button is activated when the window is launched. This arrow indicates that your mouse pointer is in the “View Mode”. This means that you can rotate the view, pan & tilt, zoom in & out, etc. but you can not interact with the objects.
# Hand icon button. When you press this button, you are switching to the “Interaction Mode”.
# '''Eye icon button'''. This is a very helpful tool, because by pressing this button, the whole scene, will be automatically center in the window, so, if you initialize with an uncomfortable view, just click in the eye, and you will see the whole scene.

OK, let's open our first experimental 3D World, that, in OpenRAVE we call Environment. The next instruction will open the Baltazar experimental environment. Try changing the views, also try to move the Robot and the objects, and finally, see what happens if you activate the physics engine with the gravity pointing to -Z. Notice that you can toggle between view-mode and interaction-mode pressing [Esc]. To move objects just wrap them, and to move joints, click in the link while holding [Ctrl]. Now, to launch the environment, if you have installed the OpenRAVE VisLab Edition, then in Terminal just type..:

openrave Vislab/OR4_Envs/Baltazar_at_Vislab.env.xml

You should see a window similar to the next figure.

[[Image:Baltazar Env.png]]

In the remaining of this section, will be exploring the power of OpenRAVE by running some demos.

== OpenRAVE Demos ==

Let's begin testing the physics engine [http://www.ode.org/ ODE]. Just type in Terminal..:

openrave.py --example testphysics

This is an example of how the physics engine works when activated. You will see that the robot is not remaining in a fixed position and Orientation. Why is that? Let's run another example to answer this question. In terminal just type..:

openrave.py --example testphysics_controller

This second demo, is the one that actually demonstrates the physics engine with the Motor Controller of a PUMA. In the last demo, the controller was not defined and there were no such a thing like a force that maintain (or at least try to) the position and orientation of the links of the Robot. The physics engine also simulates the gravity, and because of that, if you do not declare the weight of the bodies in the environment, every time you activate the gravity simulation, you will see all this objects floating away in the scene.

A third example that give us a demonstration of a Robot grasping objects, is the following..:

openrave.py --example hanoi

So far, we have seen examples of a Robot moving and interacting with objects, but OpenRAVE also give us the possibility of simulate Cameras and other sensors. Let's see an example with cameras.

openrave.py --example calibrationviews

So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

When experimenting with simulations in OpenRAVE, mainly we have the following stages:

# '''Geometric Modelling'''.
# '''Knowledge base generation'''.
# '''Scripting'''.
# '''Interfacing Simulations'''.

These will be discussed in the next sections...

= Geometric Modelling =

Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
[[Geometric Modelling in OpenRAVE]]

= Knowledge Base Generation =

'''...This Section is not available yet'''.
When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

= Scripting =

'''...This Section is not available yet'''.
Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

We present some Demos here:

'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.

'''Planning & Manipulation'''.

'''Grasping'''.

'''Mobile Manipulation'''.

'''Human Imitation'''.

= Interfacing Simulations =

'''...This Section is not available yet'''.
We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

OpenRAVE Tutorial

2011-03-14T16:48:33Z

Lestergarcia: /* Install the Mathworks MATLAB */

Note: ''this tutorial is under construction''.

This is a step-by-step "How to Use OpenRAVE" Tutorial, and is intended to be a guide to learn from the scratch how to program simulations in this open source simulator. If you have some knowledge or experience on using this software, we recommend you to see the OpenRAVE Just Use It webpage.

= What is OpenRAVE? =

The Open Robotics Automation Virtual Environment (OpenRAVE) is an open-source cross-platform software architecture that is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control.

A plugin architecture allows users to easily write custom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with monolithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. Because OpenRAVE is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols, it can be used in conjunction with other popular robotics packages such as ROS.

OpenRAVE supports a powerful scripting environment based on Python which makes it simple to control and monitor the demo and environment state. There are also supported interfaces for Octave and Matlab.

OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

= Foreword =

First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.

Second: you can find the official web page of Rosen Diankov's OpenRAVE, [http://openrave.programmingvision.com/index.php/Main_Page here]. Although you will find better first hand information in the official web page, if you are a newbie, we better recommend to start with this tutorial that introduces gradually most of the modules that you will be using within this simulator.

Third: although OpenRAVE is a cross-platform, this tutorial is just Linux-oriented, so, if you are a Windows user, perhaps you won't find this tutorial that useful.

The rest is about to be LEARNED... Have some fun!!

= How to Install OpenRAVE DEPRICATED=

In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].
We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:

wget http://mediawiki.isr.ist.utl.pt/images/6/60/OR_Vislab_Edition.zip
mkdir $HOME/Desktop/VisLab_Scripts/
mv VisLab_Scripts.zip $HOME/Desktop/VisLab_Scripts/
cd $HOME/Desktop/VisLab_Scripts/
unzip VisLab_Scripts.zip
chmod u+x -R $HOME/Desktop/VisLab_Scripts/
rm VisLab_Scripts.zip
cd

== Install the Mathworks MATLAB DEPRICATED ==

If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_Matlab

The last part of the configuration will be given in the Matlab Scripting Section.

== Install the OpenRAVE VisLab Edition ==

As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_openRAVE

Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

= Testing OpenRAVE =

To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

openrave –listplugins

The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

openrave.py –listexamples

This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.

== OpenRAVE Default Viewer ==

Before running any demo, it's important that you learn how to interact with the Coin3D GUI window, because Virtual Environments and 3D Models are shown in this window, and most of the time, you will find yourself willing to change the view perspectives, and other stuffs.

In the following Figure, we show the default OpenRAVE Viewer that is Qt-Coin3D. We have pointed five principal buttons that you will use more frequently.

[[Image:Openrave Window.png]]

# '''Menu View'''. In this menu, you will find the simulated camera parameters (that generates the actual view of the world), the Geometry, where you can switch between render & collision geometries of the objects, the frame rate of communication between the viewer and the core of the OpenRAVE, and the World Reference Frame (world axis).
# '''Menu Options'''. Here you will find as is expectable, some options for the simulation, like turning on the physics engine & the collision checkers, record the simulation etc.
# '''Arrow icon button'''. By default, this button is activated when the window is launched. This arrow indicates that your mouse pointer is in the “View Mode”. This means that you can rotate the view, pan & tilt, zoom in & out, etc. but you can not interact with the objects.
# Hand icon button. When you press this button, you are switching to the “Interaction Mode”.
# '''Eye icon button'''. This is a very helpful tool, because by pressing this button, the whole scene, will be automatically center in the window, so, if you initialize with an uncomfortable view, just click in the eye, and you will see the whole scene.

OK, let's open our first experimental 3D World, that, in OpenRAVE we call Environment. The next instruction will open the Baltazar experimental environment. Try changing the views, also try to move the Robot and the objects, and finally, see what happens if you activate the physics engine with the gravity pointing to -Z. Notice that you can toggle between view-mode and interaction-mode pressing [Esc]. To move objects just wrap them, and to move joints, click in the link while holding [Ctrl]. Now, to launch the environment, if you have installed the OpenRAVE VisLab Edition, then in Terminal just type..:

openrave Vislab/OR4_Envs/Baltazar_at_Vislab.env.xml

You should see a window similar to the next figure.

[[Image:Baltazar Env.png]]

In the remaining of this section, will be exploring the power of OpenRAVE by running some demos.

== OpenRAVE Demos ==

Let's begin testing the physics engine [http://www.ode.org/ ODE]. Just type in Terminal..:

openrave.py --example testphysics

This is an example of how the physics engine works when activated. You will see that the robot is not remaining in a fixed position and Orientation. Why is that? Let's run another example to answer this question. In terminal just type..:

openrave.py --example testphysics_controller

This second demo, is the one that actually demonstrates the physics engine with the Motor Controller of a PUMA. In the last demo, the controller was not defined and there were no such a thing like a force that maintain (or at least try to) the position and orientation of the links of the Robot. The physics engine also simulates the gravity, and because of that, if you do not declare the weight of the bodies in the environment, every time you activate the gravity simulation, you will see all this objects floating away in the scene.

A third example that give us a demonstration of a Robot grasping objects, is the following..:

openrave.py --example hanoi

So far, we have seen examples of a Robot moving and interacting with objects, but OpenRAVE also give us the possibility of simulate Cameras and other sensors. Let's see an example with cameras.

openrave.py --example calibrationviews

So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

When experimenting with simulations in OpenRAVE, mainly we have the following stages:

# '''Geometric Modelling'''.
# '''Knowledge base generation'''.
# '''Scripting'''.
# '''Interfacing Simulations'''.

These will be discussed in the next sections...

= Geometric Modelling =

Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
[[Geometric Modelling in OpenRAVE]]

= Knowledge Base Generation =

'''...This Section is not available yet'''.
When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

= Scripting =

'''...This Section is not available yet'''.
Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

We present some Demos here:

'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.

'''Planning & Manipulation'''.

'''Grasping'''.

'''Mobile Manipulation'''.

'''Human Imitation'''.

= Interfacing Simulations =

'''...This Section is not available yet'''.
We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

OpenRAVE Tutorial

2011-03-14T16:47:54Z

Lestergarcia: /* How to Install OpenRAVE */

Note: ''this tutorial is under construction''.

This is a step-by-step "How to Use OpenRAVE" Tutorial, and is intended to be a guide to learn from the scratch how to program simulations in this open source simulator. If you have some knowledge or experience on using this software, we recommend you to see the OpenRAVE Just Use It webpage.

= What is OpenRAVE? =

The Open Robotics Automation Virtual Environment (OpenRAVE) is an open-source cross-platform software architecture that is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control.

A plugin architecture allows users to easily write custom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with monolithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. Because OpenRAVE is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols, it can be used in conjunction with other popular robotics packages such as ROS.

OpenRAVE supports a powerful scripting environment based on Python which makes it simple to control and monitor the demo and environment state. There are also supported interfaces for Octave and Matlab.

OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

= Foreword =

First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.

Second: you can find the official web page of Rosen Diankov's OpenRAVE, [http://openrave.programmingvision.com/index.php/Main_Page here]. Although you will find better first hand information in the official web page, if you are a newbie, we better recommend to start with this tutorial that introduces gradually most of the modules that you will be using within this simulator.

Third: although OpenRAVE is a cross-platform, this tutorial is just Linux-oriented, so, if you are a Windows user, perhaps you won't find this tutorial that useful.

The rest is about to be LEARNED... Have some fun!!

= How to Install OpenRAVE DEPRICATED=

In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].
We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:

wget http://mediawiki.isr.ist.utl.pt/images/6/60/OR_Vislab_Edition.zip
mkdir $HOME/Desktop/VisLab_Scripts/
mv VisLab_Scripts.zip $HOME/Desktop/VisLab_Scripts/
cd $HOME/Desktop/VisLab_Scripts/
unzip VisLab_Scripts.zip
chmod u+x -R $HOME/Desktop/VisLab_Scripts/
rm VisLab_Scripts.zip
cd

== Install the Mathworks MATLAB ==

If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_Matlab

The last part of the configuration will be given in the Matlab Scripting Section.

== Install the OpenRAVE VisLab Edition ==

As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_openRAVE

Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

= Testing OpenRAVE =

To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

openrave –listplugins

The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

openrave.py –listexamples

This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.

== OpenRAVE Default Viewer ==

Before running any demo, it's important that you learn how to interact with the Coin3D GUI window, because Virtual Environments and 3D Models are shown in this window, and most of the time, you will find yourself willing to change the view perspectives, and other stuffs.

In the following Figure, we show the default OpenRAVE Viewer that is Qt-Coin3D. We have pointed five principal buttons that you will use more frequently.

[[Image:Openrave Window.png]]

# '''Menu View'''. In this menu, you will find the simulated camera parameters (that generates the actual view of the world), the Geometry, where you can switch between render & collision geometries of the objects, the frame rate of communication between the viewer and the core of the OpenRAVE, and the World Reference Frame (world axis).
# '''Menu Options'''. Here you will find as is expectable, some options for the simulation, like turning on the physics engine & the collision checkers, record the simulation etc.
# '''Arrow icon button'''. By default, this button is activated when the window is launched. This arrow indicates that your mouse pointer is in the “View Mode”. This means that you can rotate the view, pan & tilt, zoom in & out, etc. but you can not interact with the objects.
# Hand icon button. When you press this button, you are switching to the “Interaction Mode”.
# '''Eye icon button'''. This is a very helpful tool, because by pressing this button, the whole scene, will be automatically center in the window, so, if you initialize with an uncomfortable view, just click in the eye, and you will see the whole scene.

OK, let's open our first experimental 3D World, that, in OpenRAVE we call Environment. The next instruction will open the Baltazar experimental environment. Try changing the views, also try to move the Robot and the objects, and finally, see what happens if you activate the physics engine with the gravity pointing to -Z. Notice that you can toggle between view-mode and interaction-mode pressing [Esc]. To move objects just wrap them, and to move joints, click in the link while holding [Ctrl]. Now, to launch the environment, if you have installed the OpenRAVE VisLab Edition, then in Terminal just type..:

openrave Vislab/OR4_Envs/Baltazar_at_Vislab.env.xml

You should see a window similar to the next figure.

[[Image:Baltazar Env.png]]

In the remaining of this section, will be exploring the power of OpenRAVE by running some demos.

== OpenRAVE Demos ==

Let's begin testing the physics engine [http://www.ode.org/ ODE]. Just type in Terminal..:

openrave.py --example testphysics

This is an example of how the physics engine works when activated. You will see that the robot is not remaining in a fixed position and Orientation. Why is that? Let's run another example to answer this question. In terminal just type..:

openrave.py --example testphysics_controller

This second demo, is the one that actually demonstrates the physics engine with the Motor Controller of a PUMA. In the last demo, the controller was not defined and there were no such a thing like a force that maintain (or at least try to) the position and orientation of the links of the Robot. The physics engine also simulates the gravity, and because of that, if you do not declare the weight of the bodies in the environment, every time you activate the gravity simulation, you will see all this objects floating away in the scene.

A third example that give us a demonstration of a Robot grasping objects, is the following..:

openrave.py --example hanoi

So far, we have seen examples of a Robot moving and interacting with objects, but OpenRAVE also give us the possibility of simulate Cameras and other sensors. Let's see an example with cameras.

openrave.py --example calibrationviews

So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

When experimenting with simulations in OpenRAVE, mainly we have the following stages:

# '''Geometric Modelling'''.
# '''Knowledge base generation'''.
# '''Scripting'''.
# '''Interfacing Simulations'''.

These will be discussed in the next sections...

= Geometric Modelling =

Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
[[Geometric Modelling in OpenRAVE]]

= Knowledge Base Generation =

'''...This Section is not available yet'''.
When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

= Scripting =

'''...This Section is not available yet'''.
Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

We present some Demos here:

'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.

'''Planning & Manipulation'''.

'''Grasping'''.

'''Mobile Manipulation'''.

'''Human Imitation'''.

= Interfacing Simulations =

'''...This Section is not available yet'''.
We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

ROS Tutorial

2011-03-10T16:09:57Z

Lestergarcia: /* Install Drivers */

Note 1: ''this tutorial is under construction''.

Note 2: ''for the '''past distribution of ROS C-Turtle''', please review [http://mediawiki.isr.ist.utl.pt/wiki/ROS_C_Turtle this link]''

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the '''"Desktop-Full Install"'''. An easy to follow tutorial on how to install ROS is in here([http://www.ros.org/wiki/diamondback/Installation/Ubuntu ROS Installation]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks please read next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

In the C-Turtle distribution, the use of Kinect was done trough the Kinect Stack, now, in Diamondback, it is done by the [http://www.ros.org/wiki/ni ni STACK]. let us see how to install it.

First, we need to have installed the following STACKS. To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#3rd_Party_Stacks_.26_Packages_installations 3rd Party stacks installation].

* [http://www.ros.org/wiki/camera_drivers camera_drivers]
* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/perception_pcl_addons perception_pcl_addons]

[http://www.ros.org/wiki/openni_kinect openni_kinect]

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

To see a Complete tutorial of OpenRAVE, please review this link: [http://mediawiki.isr.ist.utl.pt/wiki/OpenRAVE_Tutorial OpenRAVE Tutorial]

= Interfacing Other Robots =

OpenRAVE Tutorial

2011-03-07T15:57:04Z

Lestergarcia: /* Scripting */

Note: ''this tutorial is under construction''.

This is a step-by-step "How to Use OpenRAVE" Tutorial, and is intended to be a guide to learn from the scratch how to program simulations in this open source simulator. If you have some knowledge or experience on using this software, we recommend you to see the OpenRAVE Just Use It webpage.

= What is OpenRAVE? =

The Open Robotics Automation Virtual Environment (OpenRAVE) is an open-source cross-platform software architecture that is targeted for real-world autonomous robot applications, and includes a seamless integration of 3-D simulation, visualization, planning, scripting and control.

A plugin architecture allows users to easily write custom controllers or extend functionality. With OpenRAVE plugins, any planning algorithm, robot controller, or sensing subsystem can be distributed and dynamically loaded at run-time, which frees developers from struggling with monolithic code-bases. Users of OpenRAVE can concentrate on the development of planning and scripting aspects of a problem without having to explicitly manage the details of robot kinematics and dynamics, collision detection, world updates, and robot control. Because OpenRAVE is focused on autonomous motion planning and high-level scripting rather than low-level control and message protocols, it can be used in conjunction with other popular robotics packages such as ROS.

OpenRAVE supports a powerful scripting environment based on Python which makes it simple to control and monitor the demo and environment state. There are also supported interfaces for Octave and Matlab.

OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

= Foreword =

First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.

Second: you can find the official web page of Rosen Diankov's OpenRAVE, [http://openrave.programmingvision.com/index.php/Main_Page here]. Although you will find better first hand information in the official web page, if you are a newbie, we better recommend to start with this tutorial that introduces gradually most of the modules that you will be using within this simulator.

Third: although OpenRAVE is a cross-platform, this tutorial is just Linux-oriented, so, if you are a Windows user, perhaps you won't find this tutorial that useful.

The rest is about to be LEARNED... Have some fun!!

= How to Install OpenRAVE =

In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].
We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:

wget http://mediawiki.isr.ist.utl.pt/images/6/60/OR_Vislab_Edition.zip
mkdir $HOME/Desktop/VisLab_Scripts/
mv VisLab_Scripts.zip $HOME/Desktop/VisLab_Scripts/
cd $HOME/Desktop/VisLab_Scripts/
unzip VisLab_Scripts.zip
chmod u+x -R $HOME/Desktop/VisLab_Scripts/
rm VisLab_Scripts.zip
cd

== Install the Mathworks MATLAB ==

If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_Matlab

The last part of the configuration will be given in the Matlab Scripting Section.

== Install the OpenRAVE VisLab Edition ==

As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

$HOME/Desktop/VisLab_Scripts/Install_openRAVE

Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

= Testing OpenRAVE =

To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

openrave –listplugins

The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

openrave.py –listexamples

This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.

== OpenRAVE Default Viewer ==

Before running any demo, it's important that you learn how to interact with the Coin3D GUI window, because Virtual Environments and 3D Models are shown in this window, and most of the time, you will find yourself willing to change the view perspectives, and other stuffs.

In the following Figure, we show the default OpenRAVE Viewer that is Qt-Coin3D. We have pointed five principal buttons that you will use more frequently.

[[Image:Openrave Window.png]]

# '''Menu View'''. In this menu, you will find the simulated camera parameters (that generates the actual view of the world), the Geometry, where you can switch between render & collision geometries of the objects, the frame rate of communication between the viewer and the core of the OpenRAVE, and the World Reference Frame (world axis).
# '''Menu Options'''. Here you will find as is expectable, some options for the simulation, like turning on the physics engine & the collision checkers, record the simulation etc.
# '''Arrow icon button'''. By default, this button is activated when the window is launched. This arrow indicates that your mouse pointer is in the “View Mode”. This means that you can rotate the view, pan & tilt, zoom in & out, etc. but you can not interact with the objects.
# Hand icon button. When you press this button, you are switching to the “Interaction Mode”.
# '''Eye icon button'''. This is a very helpful tool, because by pressing this button, the whole scene, will be automatically center in the window, so, if you initialize with an uncomfortable view, just click in the eye, and you will see the whole scene.

OK, let's open our first experimental 3D World, that, in OpenRAVE we call Environment. The next instruction will open the Baltazar experimental environment. Try changing the views, also try to move the Robot and the objects, and finally, see what happens if you activate the physics engine with the gravity pointing to -Z. Notice that you can toggle between view-mode and interaction-mode pressing [Esc]. To move objects just wrap them, and to move joints, click in the link while holding [Ctrl]. Now, to launch the environment, if you have installed the OpenRAVE VisLab Edition, then in Terminal just type..:

openrave Vislab/OR4_Envs/Baltazar_at_Vislab.env.xml

You should see a window similar to the next figure.

[[Image:Baltazar Env.png]]

In the remaining of this section, will be exploring the power of OpenRAVE by running some demos.

== OpenRAVE Demos ==

Let's begin testing the physics engine [http://www.ode.org/ ODE]. Just type in Terminal..:

openrave.py --example testphysics

This is an example of how the physics engine works when activated. You will see that the robot is not remaining in a fixed position and Orientation. Why is that? Let's run another example to answer this question. In terminal just type..:

openrave.py --example testphysics_controller

This second demo, is the one that actually demonstrates the physics engine with the Motor Controller of a PUMA. In the last demo, the controller was not defined and there were no such a thing like a force that maintain (or at least try to) the position and orientation of the links of the Robot. The physics engine also simulates the gravity, and because of that, if you do not declare the weight of the bodies in the environment, every time you activate the gravity simulation, you will see all this objects floating away in the scene.

A third example that give us a demonstration of a Robot grasping objects, is the following..:

openrave.py --example hanoi

So far, we have seen examples of a Robot moving and interacting with objects, but OpenRAVE also give us the possibility of simulate Cameras and other sensors. Let's see an example with cameras.

openrave.py --example calibrationviews

So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

When experimenting with simulations in OpenRAVE, mainly we have the following stages:

# '''Geometric Modelling'''.
# '''Knowledge base generation'''.
# '''Scripting'''.
# '''Interfacing Simulations'''.

These will be discussed in the next sections...

= Geometric Modelling =

Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
[[Geometric Modelling in OpenRAVE]]

= Knowledge Base Generation =

'''...This Section is not available yet'''.
When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

= Scripting =

'''...This Section is not available yet'''.
Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

We present some Demos here:

'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.

'''Planning & Manipulation'''.

'''Grasping'''.

'''Mobile Manipulation'''.

'''Human Imitation'''.

= Interfacing Simulations =

'''...This Section is not available yet'''.
We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

ROS Tutorial

2011-03-07T15:09:04Z

Lestergarcia: /* ROS - OpenRAVE */

Note 1: ''this tutorial is under construction''.

Note 2: ''for the '''past distribution of ROS C-Turtle''', please review [http://mediawiki.isr.ist.utl.pt/wiki/ROS_C_Turtle this link]''

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the '''"Desktop-Full Install"'''. An easy to follow tutorial on how to install ROS is in here([http://www.ros.org/wiki/diamondback/Installation/Ubuntu ROS Installation]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks please read next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

In the C-Turtle distribution, the use of Kinect was done trough the Kinect Stack, now, in Diamondback, it is done by the [http://www.ros.org/wiki/ni ni STACK]. let us see how to install it.

First, we need to have installed the following STACKS. To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#3rd_Party_Stacks_.26_Packages_installations 3rd Party stacks installation].

* [http://www.ros.org/wiki/camera_drivers camera_drivers]
* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/perception_pcl_addons perception_pcl_addons]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

[http://www.ros.org/wiki/ni ROS OpenNi]

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

To see a Complete tutorial of OpenRAVE, please review this link: [http://mediawiki.isr.ist.utl.pt/wiki/OpenRAVE_Tutorial OpenRAVE Tutorial]

= Interfacing Other Robots =

ROS C Turtle

2011-03-07T15:06:16Z

Lestergarcia:

On March 3rd of 2011, the new version of ROS was released, so, the '''C-Turtle version is now deprecated'''. To view the recent version Diamonback, go to [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial this link ]

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

ROS Tutorial

2011-03-07T15:00:42Z

Lestergarcia:

Note 1: ''this tutorial is under construction''.

Note 2: ''for the '''past distribution of ROS C-Turtle''', please review [http://mediawiki.isr.ist.utl.pt/wiki/ROS_C_Turtle this link]''

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the '''"Desktop-Full Install"'''. An easy to follow tutorial on how to install ROS is in here([http://www.ros.org/wiki/diamondback/Installation/Ubuntu ROS Installation]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks please read next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

In the C-Turtle distribution, the use of Kinect was done trough the Kinect Stack, now, in Diamondback, it is done by the [http://www.ros.org/wiki/ni ni STACK]. let us see how to install it.

First, we need to have installed the following STACKS. To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#3rd_Party_Stacks_.26_Packages_installations 3rd Party stacks installation].

* [http://www.ros.org/wiki/camera_drivers camera_drivers]
* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/perception_pcl_addons perception_pcl_addons]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

[http://www.ros.org/wiki/ni ROS OpenNi]

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-07T14:58:16Z

Lestergarcia: /* Install Drivers */

Note 1: ''this tutorial is under construction''.
Note 2: ''for the past distribution of ROS C-Turtle, please review [http://mediawiki.isr.ist.utl.pt/wiki/ROS_C_Turtle this link]''

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the '''"Desktop-Full Install"'''. An easy to follow tutorial on how to install ROS is in here([http://www.ros.org/wiki/diamondback/Installation/Ubuntu ROS Installation]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks please read next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

In the C-Turtle distribution, the use of Kinect was done trough the Kinect Stack, now, in Diamondback, it is done by the [http://www.ros.org/wiki/ni ni STACK]. let us see how to install it.

First, we need to have installed the following STACKS. To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#3rd_Party_Stacks_.26_Packages_installations 3rd Party stacks installation].

* [http://www.ros.org/wiki/camera_drivers camera_drivers]
* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/perception_pcl_addons perception_pcl_addons]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

[http://www.ros.org/wiki/ni ROS OpenNi]

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-07T14:28:27Z

Lestergarcia: /* Kinect Stack */

ROS Tutorial

2011-03-07T14:19:51Z

Lestergarcia: /* Install ROS */

Note 1: ''this tutorial is under construction''.
Note 2: ''for the past distribution of ROS C-Turtle, please review [http://mediawiki.isr.ist.utl.pt/wiki/ROS_C_Turtle this link]''

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the '''"Desktop-Full Install"'''. An easy to follow tutorial on how to install ROS is in here([http://www.ros.org/wiki/diamondback/Installation/Ubuntu ROS Installation]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks please read next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-07T13:58:43Z

Lestergarcia:

Note 1: ''this tutorial is under construction''.
Note 2: ''for the past distribution of ROS C-Turtle, please review [http://mediawiki.isr.ist.utl.pt/wiki/ROS_C_Turtle this link]''

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS C Turtle

2011-03-07T13:56:46Z

Lestergarcia: New page: On March 3rd of 2011, the new version of ROS was released, so, the C-Turtle version is now deprecated. To view the recent version Diamonback, go to [http://mediawiki.isr.ist.utl.pt/wiki/RO...

On March 3rd of 2011, the new version of ROS was released, so, the C-Turtle version is now deprecated. To view the recent version Diamonback, go to [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial this link ]

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

ROS Tutorial

2011-03-01T20:48:15Z

Lestergarcia: /* Start Using NOT FINISHED */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

'''SETING UP THE CYBERGLOVE'''

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0 ('''00:80:25:12:E7:57''' WCGII-3024)
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T20:03:02Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Now build the '''sr_remappers'''
PACKAGE="sr_remappers"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T20:00:08Z

Lestergarcia: /* Start Using NOT FINISHED */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

roslaunch cyberglove cyberglove.launch

roslaunch sr_remappers remapper_glove.launch

'''VER EL TOPIC'''
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T19:50:43Z

Lestergarcia: /* Start Using NOT FINISHED */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

''' UPDATE '''
roslaunch sr_hand sr_arm_motor.launch

roslaunch sr_hand rviz_motor.launch

rosrun sr_control_gui sr_control_gui

VER EL TOPIC
rostopic echo /srh/shadowhand_data

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

print mac adress
hcitool scan

Bind the mac adress to the rfcomm0
sudo rfcomm bind rfcomm0 00:80:25:12:E7:57 1

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T17:47:56Z

Lestergarcia: /* From Bazar Repository */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar (bzr) Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T17:47:36Z

Lestergarcia: /* From Mercurial Repository */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial (hg) Repository ==

First, make sure that you have the Mercurial installed in your pc
sudo apt-get install mercurial

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page. As a example , we install the [http://www.ros.org/wiki/control '''control STACK''']
STACK="control"
SOURCE="https://bitbucket.org/sglaser/control"

cd $HOME/Ros_STACKS
hg clone $SOURCE

Export the path
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Finally, build the Stack
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T17:25:26Z

Lestergarcia: /* 3rd Party Stacks & Packages installations */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

== From Mercurial Repository ==

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T17:24:22Z

Lestergarcia: /* 3rd Party from Bazar Repository */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== From Bazar Repository ==

First, make sure that you have the bazar installed in your pc
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.

mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code, that is the link of the web-page, example

SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

Export the PATH to $ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

finally, build the STACK
roscd $STACK
rosmake --rosdep-install

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T17:13:50Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/bosch_drivers bosch_drivers]
* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, '''we will install first the sr_hand PACKAGE''', so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Now, let us procede with the '''sr_control_gui PACKAGE'''
PACKAGE="sr_control_gui"
roscd $PACKAGE
rosmake --rosdep-install

Now, build the '''cyberglove PACKAGE'''
PACKAGE="cyberglove"
roscd $PACKAGE
rosmake --rosdep-install

Now. build the '''dataglove STACK'''. To do so, enter the following in Terminal:
STACK="dataglove"
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/shadow_robot/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc
roscd $STACK
rosmake --rosdep-install

Now install the '''dataglove_processing PACKAGE'''
PACKAGE="dataglove_processing"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-03-01T15:07:09Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/trajectory_msgs trajectory_msgs PACKAGE] (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control] (it's in Mercurial Repository)
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once (that will give several errors), we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], then the sr_control_gui PACKAGE, and finally we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, we will install first the sr_hand PACKAGE, so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-28T18:26:29Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* Add the [trajectory_msgs PACKAGE] to the common_msgs (use roscd trajectory_msgs to check if is already installed)
* [http://www.ros.org/wiki/control control]
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, we will install first the sr_hand PACKAGE, so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-28T18:14:40Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/control control]
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, we will install first the sr_hand PACKAGE, so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-28T18:02:37Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the full shadow_robot STACK, You first need installed the following stacks:

* [http://www.ros.org/wiki/pr2_common pr2_common]
* [http://www.ros.org/wiki/pr2_mechanism pr2_mechanism]
* [http://www.ros.org/wiki/pr2_controllers pr2_controllers]
* [http://www.ros.org/wiki/pr2_simulator# pr2_simulator]

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, we will install first the sr_hand PACKAGE, so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-27T19:09:25Z

Lestergarcia: /* Start Using */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the Kinect STACK, You first need installed the following stacks:

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, we will install first the sr_hand PACKAGE, so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using NOT FINISHED ==

This Launchs the Node
roslaunch sr_hand srh_motor.launch

Now Display the Hand with the RVIZ
roslaunch sr_hand rviz_motor.launch

The RVIZ will not display automatically the Hand, because you have to add it to the display interface, To do this, click on Add at the bottom left of rviz, then select Robot Model. You can also visualize the targets of the hand by using a second robot_model in rviz. Don't forget to specify the correct topics:

* To display the hand position: set Robot Description to hand_description and TF Prefix to /srh/position (on the left hand side, in the parameters of your robot_model).
* To display the hand targets: set Robot Description to hand_description and TF Prefix to /srh/target.

Now, start the GUI Interface
rosrun sr_control_gui sr_control_gui

This is a helpfull link. [http://www.ros.org/doc/api/sr_hand/html/ sr_hand Documentation]

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-27T17:29:23Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

To Install the Kinect STACK, You first need installed the following stacks:

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Until now, we just downloaded the whole STACK, and as Ugo Cupcic recommended, we will install first the sr_hand PACKAGE, so, to do that, in Terminal enter:
PACKAGE="sr_hand"
roscd $PACKAGE
rosmake --rosdep-install

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using ==

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-27T17:19:16Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first download the full STACK and then begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the, the shadow_robot STACK and [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install the STACK.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
SOURCE="lp:sr-ros-interface"
STACK="shadow_robot"

bzr branch $SOURCE
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Now, export the path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using ==

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-27T17:07:39Z

Lestergarcia: /* Installation */

Note: ''this tutorial is under construction''.

= Install ROS =

To start using ROS meta operating system for robots, we recommend to follow the next steps:

# First you must install ROS. There already exist a very good tutorial to do so, and when you reach the part where you have to decide which version of ROS you want to install, we recommend to select the BASE edition. "Base: ROS plus robot-generic stacks (e.g. navigation, visualization". The tutorial is in here([http://www.ros.org/wiki/cturtle/Installation/Ubuntu Install ROS Tutorial]).
# To get a quick and good tutorial for beginners see this page ([http://www.ros.org/wiki/ROS/Tutorials BEGINNERS TUTORIAL]). We recommend to read at least the beginners tutorials.
# To start adding stacks FIRST CHECK if the STACK you want is in [http://www.ros.org/wiki/StackList THIS List], If it is, you can install it easily by the next command, but be careful, because unfortunately, not all stacks in the list (but most of them) can be installed by the following method. The shadow_robot STACK it's one of them. You can install a specific ROS stack in the previous list just replacing underscores with dashes of the stack name with the following:

sudo apt-get install ros-cturtle-STACK-NAME

if your installation fails, then read the next section.

= 3rd Party Stacks & Packages installations =

Source code, stacks and packages are stored in different repositories depending on who is developing the code. Must common repositories are the SVN and Bazar, so, downloading and installation are covered in this tutorial, but first, you must know how to identify these data.

When You are interested in a particular software, as showed in the [http://www.ros.org/wiki/ROS/Tutorials beginners tutorial], you should search for the topic, and eventually, you will find yourself in a web-page similar to the one that is shown in the Figure below.

[[Image:Stack Page.png]]

In the Figure, it is important that you recognize five features:

# '''Application Name''' (Green). This name, shows the main functionality of the stack. Sometimes has the same name as the STACK name, but is not always the case.
# '''STACK name''' (Magenta). This is the actual name of the STACK. the others that are at the right side of the STACK name, are the sub-stacks or packages contained in this STACK. So, before considering to install the stack, first check if you have it already installed.
# '''Dependencies''' (Yellow). Before starting to install this actual STACK, is very recommended that you first have this stack-dependencies installed. Yes, this means that you have to track back all the dependencies until you find one with all dependencies already installed. (Ros Base has install for you many of the most common, so don't worry so much).
# '''Repository''' (Blue). Acording to the repository, you will proceed to to the installation. In next subsection we will show how to do Downloading an installation of ROS-PKG (SVN) and Bazar repositories.
# '''SOURCE''' or trunk link (Red). This is the branch for downloading the SOURCE code.

== From ROS-PKG: SVN Repository ==

ROS-PKG is a community repository for developing libraries that are generally robot agnostic. Many of the capabilities frequently associated with ROS, such as a navigation library and rviz visualizer, are developed in this repository. To see the list of stacks of this Repository, pleas go to this page: [http://www.ros.org/wiki/ros-pkg ROS-PKG STACKS LIST]

In this part of the tutorial we will show how to install the [http://www.ros.org/wiki/perception_pcl# Perception_PCL] STACK, but steps are the same for any stack from the ROS-PKG Repository. To install any of the stacks here, do the following:

STACK=perception_pcl

First, make sure that you DON'T have this stack or package already installed. In terminal enter:
rosstack find $STACK

In this case, as the stack has been not installed, there will be a reply. In the case that you have it already installed, the result will be the Directory in which you have the stack installed. You can also search if the code is declared as a PACKAGE, so look for it entering in Terminal the following:
rospack find $STACK

In this case, it will complain again. So, what is next step?... ensure that we have already installed the Dependencies. IN THIS SPECIFIC case, Dependancies are:
* common
* common_msgs
* driver_common
* geometry
* ros
* ros_comm

We know in advance that these stacks, are part of the default ROS Base, so you don't have to track back any stack or package, so we can continue.

Make sure you have SVN installed.
sudo aptitude install subversion

Create the Directory where you want to install the stack, and go there..
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Then you can checkout the SOURCE (trunk link) from the svn repository listed in the wiki. The trunk if you are curious is the default branch of code in a svn repository, as opposed to the experimental branch. So, when you go to the STACK web page, you will see the something like in the Figure above.

You should pay special attention to the Repository and to the Source lines. The Repository line, indicates the name of the STACK and the source indicates the link to experimental stack. What we want, is to get the whole Stack, so, in order to do that, first, copy the link of the SOURCE line but '''delete everything after the word " https:......../trunk/ "'''. then in terminal, save it in a variable, for example:
SOURCE="https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/trunk"

Now that we have the STACK name and the SOURCE, we just do the following in Terminal
svn co $SOURCE $STACK

After downloaded, edit your ROS_PACKAGE_PATH in your .bashrc
export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH
echo "export ROS_PACKAGE_PATH=$HOME/Ros_Stacks/$STACK:$ROS_PACKAGE_PATH" >> $HOME/.bashrc

Almost finish. To actually install the stack, you have to enter to the stack directory and install the STACK. to do so, just enter in terminal:
roscd $STACK
rosmake --rosdep-install

Ok, now you can try your STACK.

== 3rd Party from Bazar Repository ==

bla bla bla ...

= Kinect Stack=

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS. The kinect ROS stack contains low-level drivers, visualization launch files, and PCL/OpenCV tutorials/demos.

== Install Drivers ==

To Install the Kinect STACK, You first need installed the following stacks

* [http://www.ros.org/wiki/perception_pcl perception_pcl]
* [http://www.ros.org/wiki/point_cloud_perception point_cloud_perception]

To know how to install them, please read [http://mediawiki.isr.ist.utl.pt/wiki/ROS_Tutorial#From_ROS-PKG:_SVN_Repository ROS-PKG: SVN Repository]

As you will see, Kinect STACK is in the GIT repository, so, First install the git and also the easy install tool from ROS, in terminal enter the following:
sudo apt-get install python-setuptools git-core
sudo easy_install -U rosinstall

Now, download the source code by typing in terminal:
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/
wget http://github.com/ros-pkg-git/kinect/raw/master/kinect.rosinstall --no-check-certificate
rosinstall $HOME/Ros_Stacks/kinect-devel /opt/ros/cturtle kinect.rosinstall

Now, to set up your environment.
source $HOME/Ros_Stacks/kinect-devel/setup.bash

Build ROS-kinect:
. $HOME/Ros_Stacks/kinect-devel/setup.sh
rosmake kinect --rosdep-install

Now install kinect and visualilzation
sudo apt-get install ros-cturtle-kinect ros-cturtle-visualization

'''Now plug in Kinect to USB port ''' and open up permissions on usb port by entering in Terminal the following:
sudo chmod 777 -R /dev/bus/usb

Using udev rules, your computer will always be setup to use the kinect. This only needs to be done once. In Lucid, paste the following into /etc/udev/rules.d/53-kinect.rules Hint: use sudo.

sudo gedit /etc/udev/rules.d/53-kinect.rules

And copy the next text into the file and save it.
# /etc/udev/rules.d/53-kinect.rules
# make kinect device mount with writing permissions
#(default is read only for unknown devices)
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"

# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"

# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Now '''Make sure the kinect is disconnected from your computer''' and run:
sudo service udev reload

Then '''reconnect your kinect''' and wait at least 10 seconds (camera initialization). Permissions should be normal (read/write).

To test if the Kinect is publishing in ROS, type:
rxgraph

'''In a new terminal''' Launch the Kinect by entering:
. /opt/ros/cturtle/setup.sh
roslaunch kinect_camera kinect_with_tf.launch

Now to Launch the Visualization, create the file /tmp/kinect.vcg
gedit /tmp/kinect.vcg

...and copy the following text:
Background\ ColorR=0
Background\ ColorG=0
Background\ ColorB=0
Fixed\ Frame=/kinect_depth
Target\ Frame=<Fixed Frame>
Camera.Alpha=0.5
Camera.Enabled=1
Camera.Image\ Topic=/kinect/rgb/image_raw
Camera.Transport\ Hint=raw
Camera2.Alpha=0.5
Camera2.Enabled=1
Camera2.Image\ Topic=/kinect/depth/image_raw
Camera2.Transport\ Hint=raw
Grid.Alpha=0.5
Grid.Cell\ Size=1
Grid.ColorR=0.5
Grid.ColorG=0.5
Grid.ColorB=0.5
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=50
Grid.Reference\ Frame=<Fixed Frame>
Point\ Cloud2.Alpha=0.5
Point\ Cloud2.Billboard\ Size=0.001
Point\ Cloud2.Color\ Transformer=Flat Color
Point\ Cloud2.Decay\ Time=0
Point\ Cloud2.Enabled=1
Point\ Cloud2.Position\ Transformer=XYZ
Point\ Cloud2.Selectable=1
Point\ Cloud2.Style=2
Point\ Cloud2.Topic=/kinect/depth/points2
Point\ Cloud2..Flat\ ColorColorR=1
Point\ Cloud2..Flat\ ColorColorG=1
Point\ Cloud2..Flat\ ColorColorB=1
Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=1
Point\ Cloud2..IntensityMax\ ColorR=1
Point\ Cloud2..IntensityMax\ ColorG=1
Point\ Cloud2..IntensityMax\ ColorB=1
Point\ Cloud2..IntensityMax\ Intensity=4096
Point\ Cloud2..IntensityMin\ ColorR=0
Point\ Cloud2..IntensityMin\ ColorG=0
Point\ Cloud2..IntensityMin\ ColorB=0
Point\ Cloud2..IntensityMin\ Intensity=0
Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=2.88559 6.26704 6.20208 0.118644 2.18674 -0.179489
Property\ Grid\ State=selection=Camera2.Enabled.Camera2.Image Topic;expanded=.Global Options,Point Cloud2.Enabled,Camera.Enabled,Camera2.Enabled;scrollpos=0,0;splitterpos=330,660;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Point Cloud2
Package=rviz
ClassName=rviz::PointCloud2Display
[Display2]
Name=Camera
Package=rviz
ClassName=rviz::CameraDisplay
[Display3]
Name=Camera2
Package=rviz
ClassName=rviz::CameraDisplay

Close the rxgraph and now '''in a new Terminal''' Launch the visualization software RVIZ. Notice that the default launch for rviz is set to display 3 Cameras. '''If when starting, the window seems to take a lot of memory (and most probably it will), you can release memory by UNCHECKING the Cameras in the left table as shown in the figure'''.
. /opt/ros/cturtle/setup.sh
rosrun rviz rviz -d /tmp/kinect.vcg&

[[Image:Kinect.png]]

That's it. You can kill processes and unplug the Kinect.

== Test Demos ==

bla bla

= Shadow Robot Stack =

== Installation ==

In this section we present some useful steps to install the [http://www.ros.org/wiki/shadow_robot shadow_robot STACK], although this stack is still under development, installation steps should be similar in future releases.

Because the developer of this STACK Ugo Cupcic recommend it, instead of just installing the whole STACK at once, we first begin installing the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], and then, we will add the rest of the packages.

As you will see in the [http://www.ros.org/wiki/sr_hand sr_hand PACKAGE], the repository is in Bazar, so, first make sre that you have the bazar installed.
sudo apt-get install bzr

Then prepare the directory where you want to install it.
mkdir -p $HOME/Ros_Stacks/
cd $HOME/Ros_Stacks/

Get the SOURCE code..:
bzr branch lp:sr-ros-interface
mv sr-ros-interface/shadow_robot .
rm -r sr-ros-interface

If that fails, '''this is an alternative way to download the SOURCE code '''.
wget http://launchpad.net/sr-ros-interface/release1.2/1.2.0/+download/release1.2.tar.gz
tar xvvzf release1.2.tar.gz
mv release1.2/shadow_robot .
rm -r release1.2

Here there are other useful links:
* [https://answers.launchpad.net/sr-ros-interface/+faq/1206 Installation FAQs]
* [http://www.ros.org/doc/api/sr_hand/html/ Shadow Robot Documentation]

== Start Using ==

= Cyberglove =

= ROS - OpenRAVE =

= Interfacing Other Robots =

ROS Tutorial

2011-02-27T16:13:31Z

Lestergarcia:

ROS Tutorial

2011-02-26T22:32:26Z

Lestergarcia: /* Install Drivers */

File:Kinect.png

2011-02-26T22:31:43Z

Lestergarcia: uploaded a new version of "Image:Kinect.png"

RVIZ window showing the Kinect's input.

File:Kinect.png

2011-02-26T22:29:36Z

Lestergarcia: RVIZ window showing the Kinect's input.

RVIZ window showing the Kinect's input.

ROS Tutorial

2011-02-26T22:14:55Z

Lestergarcia: /* Install Drivers */

ROS Tutorial

2011-02-26T22:07:13Z

Lestergarcia: /* Install Drivers */

ROS Tutorial

2011-02-26T21:19:13Z

Lestergarcia: /* Kinect */

ROS Tutorial

2011-02-26T20:57:18Z

Lestergarcia: /* Install Drivers */

ROS Tutorial

2011-02-26T20:50:01Z

Lestergarcia: /* Install Drivers */

ROS Tutorial

2011-02-26T20:48:51Z

Lestergarcia: /* Install Drivers */

ROS Tutorial

2011-02-26T20:43:46Z

Lestergarcia: /* From ROS-PKG: SVN Repository */

ROS Tutorial

2011-02-26T20:22:14Z

Lestergarcia: /* From ROS-PKG: SVN Repository */

ROS Tutorial

2011-02-26T20:20:39Z

Lestergarcia: /* From ROS-PKG: SVN Repository */

ROS Tutorial

2011-02-26T20:19:47Z

Lestergarcia: /* From ROS-PKG: SVN Repository */

ROS Tutorial

2011-02-26T20:16:37Z

Lestergarcia: /* 3rd Party from ROS-PKG: SVN Repository */