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INSTALL.md

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Usage instructions for non-NASA users

Install the 64-bit version of Ubuntu 16.04 on a host machine, and make sure that you can checkout and build code. If you are using a virtual machine, please use VMware. Virtualbox doesn't support some of our Gazebo plugins.

sudo apt-get install build-essential git

Note: You will need 4 GBs of RAM to compile the software. If you don't have that much RAM available, please use swap space.

Note: Please ensure you install Ubuntu 16.04. Running the simulation in Ubuntu 18.04 is possible, but not officially supported, instructions in README_Ubuntu18.md. At this time we do not support any other operating system or Ubuntu version.

Note: Please ensure you install the 64-bit version of Ubuntu. We do not support running Astrobee Robot Software on 32-bit systems.

Machine setup

Checkout the project source code

At this point you need to decide where you'd like to put the source code (SOURCE_PATH) on your machine:

export SOURCE_PATH=$HOME/astrobee

First, clone the flight software repository:

git clone https://github.com/nasa/astrobee.git $SOURCE_PATH

If you are planning to work on guest science stuff, you will also need the astrobee_android repository. You should checkout the repository in the same directory you checked out the source code in:

export ANDROID_PATH="${SOURCE_PATH}_android"

Clone the android repository:

git clone https://github.com/nasa/astrobee_android.git $ANDROID_PATH

Dependencies

Next, install all required dependencies: Note: root access is necessary to install the compiled debian packages below Note: Before running this please ensure that your system is completely updated by running 'sudo apt-get update' and then 'sudo apt-get upgrade'

pushd $SOURCE_PATH
cd scripts/setup
./add_ros_repository.sh
sudo apt-get update
cd debians
./build_install_debians.sh
cd ../
./install_desktop_16_04_packages.sh
sudo rosdep init
rosdep update
popd

Important: you can safely ignore the following error messages, as they are simply letting you know that certain libraries cannot be found. These libraries are for internal NASA use only, and are not required by public users provided that software is launched with DDS disabled.

E: Unable to locate package libroyale1
E: Unable to locate package rti
E: Unable to locate package libmiro0
E: Unable to locate package libsoracore1
E: Unable to locate package libroyale-dev
E: Unable to locate package rti-dev
E: Unable to locate package libsoracore-dev
E: Unable to locate package libmiro-dev

Configuring the build

Note for the build setup

By default, the configure script uses the following paths:

  • native build path: $HOME/astrobee_build/native
  • native install path: $HOME/astrobee_install/native

If you are satisfied with these paths, you can invoke the configure.sh without the -p and -b options. For the simplicity of the instructions below, we assume that $BUILD_PATH and $INSTALL_PATH contain the location of the build and install path. For example:

export BUILD_PATH=$HOME/astrobee_build/native
export INSTALL_PATH=$HOME/astrobee_install/native

Native build

The configure script prepares your build directory for compiling the code. Note that configure.sh is simply a wrapper around CMake that provides an easy way of turning on and off options. To see which options are supported, simply run configure.sh -h.

pushd $SOURCE_PATH
./scripts/configure.sh -l -F -D
popd

If you want to explicitly specify the build and install directories, use instead:

./scripts/configure.sh -l -F -D -p $INSTALL_PATH -b $BUILD_PATH

Note: Make sure you use the -F and -D flags. If these flags are not used, the code will not compile. The -F flag is used to turn off building the Picoflex. This is only needed for running on the robot and is not needed for the simulator. The -D is used to turn off building the dds bridge. The bridge is used to communicate with our ground data system and is also not needed for the simulator.

Building the code

To build, run make in the $BUILD_PATH. Note that depending on your host machine, this might take in the order of tens of minutes to complete the first time round. Future builds will be faster, as only changes to the code are rebuilt, and not the entire code base.

pushd $BUILD_PATH
make -j2
popd

If you configured your virtual machine with more than the baseline resources, you can adjust the number of threads (eg. -j4) to speed up the build.

For more information on running the simulator and moving the robot, please see the simulation instructions.

Ubuntu 18.04 Install

Ubuntu 18.04 is currently not officially supported