Tough 0.11 Installation using vcstool

Tough installation using vcstool

Dependencies

1. We first need to install some dependencies

sudo apt-get install ros-kinetic-controller-interface ros-kinetic-effort-controllers  ros-kinetic-footstep-planner ros-kinetic-humanoid-* ros-kinetic-multisense-* ros-kinetic-robot-self-filter ros-kinetic-trac-ik-* ros-kinetic-moveit-* ros-kinetic-moveit-ros-* ros-kinetic-laser-assembler ros-kinetic-fiducials

2. Install OepnJDK 8

sudo apt update
sudo apt install openjdk-8-jdk openjfx

3. Now we check the installation:

javac -version
# Output should be some version of java.
 

4. Modify ~/.bashrc file to include JAVA_HOME and IHMC_SOURCE_LOCATION variable. Add these to the end of your ~/.bashrc. We will download ihmc source in following steps.

export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64/
export IHMC_SOURCE_LOCATION=~/repository-group/ihmc-open-robotics-software

Notice the folder ~/repository-group. This is going to hold all of the low-level controller java code. All ros related repos will go in the catkin workspace ~/catkin_ws.

5. Download IHMC Open robotics software. It is preferable to use the paths as given here. If this path changes, ~/.bashrc needs to be updated as well.

# We start in the user's home directory.
cd && git clone https://github.com/ihmcrobotics/repository-group.git 
cd repository-group && git checkout 0.11.0
git clone https://github.com/WPI-Humanoid-Robotics-Lab/ihmc-open-robotics-software --branch 0.11.0-warner --single-branch

Installing TOUGH 0.11

1. Install vcstool and catkin_tools if not already installed. Instructions are available here. Once vcstool is available run the following commands to download required repositories.

# skip next 2 lines if you already have a catkin workspace created
mkdir ~/catkin_ws && cd ~/catkin_ws 
catkin config --init --mkdirs  
# Navigate to src directory of catkin workspace 
cd src  
# download vcs config file
wget https://github.com/WPI-Humanoid-Robotics-Lab/atlas_workspace/raw/master/atlas_ws_0.11.yaml
vcs import < atlas_ws_0.11.yaml  
cd .. && catkin_make

2. Source the ros packages, this can be added to ~/.bashrc

source ~/catkin_ws/devel/setup.bash

3. We can start the simulation that compiles everything when it runs for the first time. It will take about 10-15 minutes in the run. Later runs would be faster

roslaunch ihmc_atlas_ros ihmc_atlas_scs_demo01.launch use_local_build:=true