installtion

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Jamie Diprose edited this page Oct 6, 2016 · 16 revisions

Installation and Setup

The first section describes how to install the hri api and its dependencies. it is assumed that you are using Ubuntu 14.04.

Contents

1. Installation of ROS Indigo

Follow these instructions to install ROS Indigo on Ubuntu 14.04.

2. Setting up a catkin workspace

Follow these instructions to set up a catkin workspace. This is where you will clone git repositories later on the tutorial.

3. Installation of required open source libraries

Open a terminal (ctrl+alt+t) and install the following software:

Blender 2.71

sudo add-apt-repository ppa:irie/blender
sudo apt-get update
sudo apt-get install blender

Git, nao_robot ros library and yaml for Python 3

sudo apt-get install git ros-indigo-nao-robot python3-yaml sox libsox2 libsox-fmt-base libsox-fmt-alsa python-simplejson python-pip

Install nao robot meshes

sudo apt-get install ros-indigo-nao-meshes

pip install enum34

Python3 rospkg

sudo apt-get install python3-setuptools

git clone git://github.com/ros/rospkg.git
cd rospkg
sudo python3 setup.py install

Python3 catkin_pkg

git clone https://github.com/ros-infrastructure/catkin_pkg.git
cd catkin_pkg
sudo python3 setup.py install

4. Installation of open source git repositories

Navigate to the src folder in your catkin workspace with the following command:

user@pc:~$ cd ~/catkin_ws/
user@pc:~$  rosinstall ~/catkin_ws/src http://rawgit.com/uoa-robotics/rosinstall_files/master/nao_catkin_ws.rosinstall

5. Installation of NAOqi

Extract the file pynaoqi-python-2.7-naoqi-1.14.5-linux64.tar.gz into your home directory and rename it naoqi_python

6. Configure ~/.bashrc

Open the file ~/.bashrc with the following command:

gedit ~/.bashrc

Delete the line (if it exists)

source /opt/ros/indigo/setup.bash

Add the following lines:

source ~/catkin_ws/devel/setup.bash
export PYTHONPATH=$PYTHONPATH:~/naoqi_python/

Make sure you open a new terminal instance, or run the following command in an existing terminal before you continue:

user@pc:~$ source ~/.bashrc

7. Build your workspace

Use the following commands to build the projects in your workspace:

user@pc:~$ cd ~/catkin_ws
user@pc:~$ catkin_make