It is only necessary to install libraries for those cameras, robots, or input devices that you intend to use.
-
On Ubuntu 18 install azure kinect SDK with apt
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On Ubuntu 20 download libk4a*(-dev) and libk4abt*(-dev) from https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/ and k4atools from https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools
Install withsudo dpkg -i -
Install Open3D in your Python env with
pip install open3d -
For default usage, start
$ python robot_io/cams/kinect4/kinect4.py
First follow installation instructions for librealsense2 here
pip install pyrealsense2
python robot_io/cams/realsense/realsenseSR300_librs2.py # to test
groups | grep video # user must be in video group, otherwise ask Michael K.
file /usr/src/librealsense2 # (see below a)
diff misc/framos_setup_files/setup.py /usr/src/librealsense2/setup.py
cp -r /usr/src/librealsense2 .
cd librealsense2
pip uninstall pyrealsense2
pip install -e .
cd ../robot_io/cams/realsense
python realsense.py # test script
- a) If
/usr/src/librealsense2does not exist, download FRAMOS software package from https://www.framos.com/en/industrial-depth-cameras#downloads. Follow installation instructions, make sure to use local admin user (e.g. xam2) to install (file system may NOT be network mounted). - b) Use Ethernet sockets on the ceiling for PoE.
Make sure OpenCV and Eigen are installed:
sudo apt install libopencv-dev python3-opencv
sudo apt install libeigen3-dev
pip install Cython
cd robot_io/marker_detection/apriltag_detection
python setupBatch.py build_ext --inplace
Clone Kuka Java Repository on aisgit
git clone https://aisgit.informatik.uni-freiburg.de/hermannl/kuka_java_interface_no_ros
robot_io/robot_interface/iiwa_interface.py is a ROS free python controller for KUKA iiwa. It sends UDP messages to the iiwa_java_controller.
Supported control modes:
- Joint position control
- degrees / radians
- Cartesian position control
- PTP / LIN motions
- with / without impedance
- absolute / relative coordinates
For more information please read README of kuka_java_interface_no_ros
IK fast is an analytic IK solver. In order to use IK fast, first install ikfast-pybind:
git clone --recursive https://github.com/yijiangh/ikfast_pybind
cd ikfast_pybind
# copy panda IK solution .cpp and .h to ikfast_pybind
cp ../robot_io/misc/ik_fast_files/ikfast.h ./src/franka_panda/
cp ../robot_io/misc/ik_fast_files/ikfast0x10000049.Transform6D.0_1_2_3_4_5_f6.cpp ./src/franka_panda/
pip install .
For creating different IK solutions (e.g. in case of a different gripper) please refer to:
http://docs.ros.org/en/kinetic/api/framefab_irb6600_support/html/doc/ikfast_tutorial.html
git clone [email protected]:lukashermann/frankx
cd frankx
git clone [email protected]:pantor/affx
git clone [email protected]:pantor/ruckig
cd affx; git checkout -b frankx_version dabe0ba; cd ..
cd ruckig; git checkout -b frankx_version 31f50f0; cd ..
conda install pybind11
vim setupy.py # add "-DFranka_DIR=/opt/ros/noetic/share/franka/cmake/"
pip install -e .
firefox https://192.168.180.87/desk/ # unlock joints
export LD_LIBRARY_PATH=/opt/ros/noetic/lib/:$LD_LIBRARY_PATH
cd robot_io/robot_interface
python panda_frankx_interface.py # test robot
sudo apt install libspnav-dev spacenavd
conda activate robot
pip install spnav
Next test if it works, some common pitfalls are:
- Turn on SpaceMouse in the back
- May not work while charging.
- Wireless range is quite limited.
- Comment the following two lines in
site-packages/spnav/__init__.py
#pythonapi.PyCObject_AsVoidPtr.restype = c_void_p
#pythonapi.PyCObject_AsVoidPtr.argtypes = [py_object]
To test execute the following program. When moving the mouse you should see numbers scrolling by.
python robot_io/input_devices/space_mouse.py
Please see (here.)[docs/teleoperation.md]
This is for installing the Facebook Digit Sensor https://digit.ml/.
pip install digit-interface