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https://github.com/tgiles/vigir_footstep_install

Install and setup files for ViGIR Footstep Planner for NAO
https://github.com/tgiles/vigir_footstep_install

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Install and setup files for ViGIR Footstep Planner for NAO

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# CNU Robotics CHRISLab ViGIR Footstep Planner setup



Install and setup files for the basic setup of our software.



Computer Setup

--------------



 * Follow the [ROS Installation] instructions for setting up your ROS system on Ubuntu.

  * This system has been tested on ROS Kinetic Release on `Ubuntu 16.04`.

  * We recommend `ros-kinetic-desktop-full` as the base for this system; it includes most of the required packages, including the Gazebo simulator for testing.

 * Install the [catkin_tools] package.

  * `sudo apt-get install python-catkin-tools`

  * This is required by many of our scripts, and is generally preferred over the standard catkin_build system

 * Install ROS stand alone tools

  * `sudo apt-get install python-rosinstall`

  * Our install script (below) uses rosinstall tools

 * Install your favorite editor or IDE. (We mostly use QtCreator and atom.)



ViGIR Footstep Planner Software Setup

-----------------------



#### *If installing a new workspace, remove existing workspace setup from .bashrc, and reopen terminal sourcing only the /opt/ros/kinetic/setup.bash prior to running this script.*



1. Create workspace root folder (e.g. ~/vigir_footstep_install)  and change to that directory


mkdir vigir_footstep_install

cd vigir_footstep_install




2. Clone the install setup 

 * `git clone https://gitlab.pcs.cnu.edu/vigir_footstep_devel_one/vigir_footstep_install.git `



3. Change to correct branch

 `git checkout master`

 * While not necessary for this project, this version has the CHRISLab iRobot Create and Kobuki-based Turtlebot setup, including the complete `flexible_navigation` demonstration.



4. Run the install script

 `./install.sh`



5. Follow on-screen instructions to add the new setup to bashrc and re-source the terminal



6. Test the setup

  `roscd`

  * you should be in the workspace root /src folder  (e.g. ~/vigir_footstep_install/src )



7. Go back to the original directory

 `cd $WORKSPACE_ROOT`

  * This should put you back where you started (e.g. ~/vigir_footstep_install)



8. Install the CHRISLab specific code

 * The most complete demonstration instructions can be found at https://github.com/CNURobotics/chris_turtlebot_flexible_navigation

 * `./rosinstall/install_scripts/install_chrislab.sh` for just base software, or

 * `./rosinstall/install_scripts/install_chris_turtlebot.sh` for base + Turtlebot specific, or

 * `./rosinstall/install_scripts/install_chris_create.sh` for base + Create specific

 * `./rosinstall/install_scripts/install_vigir_footstep.sh ` for repos related to ViGIR footstep planner

 * *NOTE:* Create and Turtlebot set ups are compatible with one another in the same workspace.



9. Build and install any external libraries installed in the `$WORKSPACE_ROOT/external` folder

  * For example:


cd $WORKSPACE_ROOT/external/sbpl

mkdir build

cd build

cmake ..

make

sudo make install




10. Build our system


catkin build

. setup.bash




11. Run demos


roslaunch vigir_footstep_planner footstep_planner_test.launch 

roslaunch vigir_footstep_planning rviz_footstep_planning.launch



This runs the default demo for the THORMANG humanoid.


roslaunch vigir_footstep_planner footstep_planner_test_nao.launch 

roslaunch vigir_footstep_planning rviz_footstep_planning.launch



While this demo runs the current configuration for the NAO humanoid.



[ROS Installation]: http://wiki.ros.org/ROS/Installation/

[catkin_tools]: https://catkin-tools.readthedocs.io/en/latest/installing.html