Team - WPI - Space Robotics Challenge

This is the main repo for Team-WPI's participation in Space Robotics Challenge.

Prerequisites

• Disable hyper-threading, if it is enabled in bios
• Ubuntu 14.04
• Ros Indigo

Installation using scripts

Download the scripts from this location and run the following commands:

    bash setup1.sh

after the system restarts, run the following

    bash setup2.sh

once everything is setup successfully, it should automatically launch the gazebo with valkyire, controllers and the robot should start walking.
note: The scripts also handle installing ros, dependencies, setting up workspace, checkout - updated repo etc. So basically running the scripts on a fresh linux machine (with out any package except git) should install and setup everything, finally making valyire walk in gazebo. (run setup1.sh first and after reboot run setup2.sh).
known problems

• after everything getting launched (gazebo with valkyire standing), if for any reason the process dies and say the tf is missing, then remove the build, devel rm -rf /build /devel and rebuild the workspace catkin_make, this should fix the problem and valkyire should start walking this time.

Manual Installation

Gazebo 7 and SRCSim Installation

    sudo rm /etc/apt/sources.list.d/gazebo*
    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
    wget -O - http://packages.osrfoundation.org/gazebo.key | sudo apt-key add -

    sudo sh -c 'echo "deb http://srcsim.gazebosim.org/src trusty main" > /etc/apt/sources.list.d/src-latest.list'
    wget -O - http://srcsim.gazebosim.org/src/src.key | sudo apt-key add -
    wget -O - https://bintray.com/user/downloadSubjectPublicKey?username=bintray | sudo apt-key add -

    sudo apt-get update
    sudo apt-get install srcsim

Environment Variables

    echo 'export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64' >> ~/.bashrc
    echo 'export IS_GAZEBO=true' >> ~/.bashrc

Change ownership of ihmc_ros_java_adapter package.

This ROS package requires to write some files in its installation directory at runtime. We're working on a fix for this issue. In the meantime, please change the ownership of this directory to your user.

if you are the only user on the computer, use this

    sudo chown -R $USER:$USER /opt/ros/indigo/share/ihmc_ros_java_adapter

else, use this

    sudo chmod -R 777 /opt/ros/indigo/share/ihmc_ros_java_adapter

Copy the IHMC networking ini file

    mkdir -p ${HOME}/.ihmc; curl https://raw.githubusercontent.com/ihmcrobotics/ihmc_ros_core/0.8.0/ihmc_ros_common/configurations/IHMCNetworkParametersTemplate.ini > ${HOME}/.ihmc/IHMCNetworkParameters.ini

Real-time scheduling priority

Increase real-time scheduling priority for current user (rtprio), which is required by the IHMC controller. Add current user to ros group:

    sudo bash -c 'echo "@ros - rtprio 99" > /etc/security/limits.d/ros-rtprio.conf'
    sudo groupadd ros
    sudo usermod -a -G ros $USER

Reboot the system

Download Gazebo models

    wget -P /tmp/ https://bitbucket.org/osrf/gazebo_models/get/default.tar.gz
    tar -xvf /tmp/default.tar.gz -C $HOME/.gazebo/models --strip 1
    rm /tmp/default.tar.gz

Pre-build ihmc_ros_java_adapter.

Open a new terminal and run:

    source /opt/nasa/indigo/setup.bash
    roslaunch ihmc_valkyrie_ros valkyrie_warmup_gradle_cache.launch

Hack to use ihmc controllers until they provide a fix

Clone IHMC's open robotics software repo

    cd ~ && git clone https://github.com/ihmcrobotics/ihmc-open-robotics-software.git

Compile

Compile the java code that you just cloned (https://xkcd.com/303)

    cd ihmc-open-robotics-software
    git checkout master
    ./gradlew 
    ./gradlew -q deployLocal

ROS dependencies

• ruby, pcl, MoveIt!, Trac_IK, footstep_planner, humanoid_localization, Multisense

    sudo apt-get install ruby ros-indigo-pcl-ros ros-indigo-pcl-conversions ros-indigo-moveit-full ros-indigo-trac-ik ros-indigo-footstep-planner ros-indigo-humanoid-localization ros-indigo-multisense-ros

Setting up workspace

Create catkin workspace. If you already have one, move to the next step

    mkdir -p ~/indigo_ws/src && cd ~/indigo_ws/src
    catkin_init_workspace
    cd ~/indigo_ws
    catkin_make

Clone the git repositories

    git clone https://gitlab.com/whrl/space_robotics_challenge.git ~/indigo_ws/src/space_robotics_challenge
    git clone https://github.com/ninja777/humanoid_navigation.git ~/indigo_ws/src/humanoid_navigation

After the code is downloaded, run catkin_make.

    cd ~/indigo_ws    
    catkin_make

Test your installation

Open a new terminal and type:

    source /opt/nasa/indigo/setup.bash
    cd ~/indigo_ws
    rm -rf devel/ build/
    catkin_make
    source devel/setup.bash
    roslaunch val_bringup qual2.launch

Usage

• To start qual task 1 with controller

    roslaunch val_bringup qual1.launch

• To start qual task 1 without controller

    roslaunch val_bringup qual1.launch controller:=false

• To start qual task 2 with controller

    roslaunch val_bringup qual2.launch

• To start qual task 2 without controller

    roslaunch val_bringup qual2.launch controller:=false

Packages

• val_description
  This package contains the robot model. All the xacro, urdf, dae files of the robot can be found in this package. This code is downloaded from IHMC's repo.

• val_gazebo
  This package contains launchers for simulation in gazebo. It also hosts the world files along with additional plugins written for various tasks.

• val_moveit/val_moveit_config This package contains moveit configuration files with "trac_ik" solver for Valkyrie generated by MoveIt! setup assistant. This can be used for motion planning tasks. The robot groups and poses can be edited by editing this package in moveit_setup_assistant. Refer MoveIt! tutorials and Trac_ik for more details.

• val_moveit/val_moveit_tasks This package conatains tasks that can be performed using MoveIt! code API.