Melodic experimental

README.md

@@ -26,6 +26,63 @@ We are skipping 0.10 version of ihmc controllers more details [here](https://git
  - Requires: Ubuntu 16.04, ROS-Kinetic
  - [tough-kinetic-installation-instructions](https://github.com/WPI-Humanoid-Robotics-Lab/tough/wiki/Tough-0.11-Installation-using-vcstool)
 
+ - Bionic (18.04), ROS-Melodic
+ ```bash
+ sudo apt install ros-melodic-map-server* ros-melodic-controller-interface ros-melodic-effort-controllers  ros-melodic-multisense-* ros-melodic-robot-self-filter ros-melodic-trac-ik-* ros-melodic-moveit-* ros-melodic-moveit-ros-* ros-melodic-laser-assembler ros-melodic-fiducials ros-melodic-octomap* qt4-default qt4-qtconfig libqt4-dev qt4-qmake openjdk-8-jdk openjfx xsltproc
+ mkdir -p ~/hn_ws/src && cd ~/hn_ws/src
+ git clone https://github.com/DhruvKoolRajamani/humanoid_msgs.git
+ cd ../
+ catkin_make
+ source devel/setup.bash
+ cd src
+ git clone https://github.com/DhruvKoolRajamani/humanoid_navigation.git
+ cd ../
+ catkin_make
+ source devel/setup.bash
+ echo "source ~/hn_ws/devel/setup.bash" >> ~/.bashrc
+ mkdir -p ~/Downloads/Java/ && cd ~/Downloads/Java/
+ wget https://chriswhocodes.com/downloads/openjfx-8u60-sdk-overlay-linux-amd64.zip
+ unzip -q openjfx-8u60-sdk-overlay-linux-amd64.zip
+ rm openjfx-8u60-sdk-overlay-linux-amd64.zip
+ sudo cp * /usr/lib/jvm/java-8-openjdk-amd64/
+ ```
+ - 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.
+ ```bash
+ 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`.
+- 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.
+```bash
+ # 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
+- Install vcstool and catkin_tools if not already installed. Instructions are available [here](https://github.com/DhruvKoolRajamani/atlas_workspace/tree/melodic-devel). Once vcstool is available run the following commands to download required repositories.
+```bash
+ # 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/DhruvKoolRajamani/atlas_workspace/raw/melodic-devel/atlas_ws_0.11.yaml
+ vcs import < atlas_ws_0.11.yaml  
+ cd .. && catkin_make
+```
+- Source the ros packages, this can be added to `~/.bashrc`.
+```bash
+source devel/setup.bash
+# Or
+# echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+```
+- 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
+```bash
+ roslaunch ihmc_atlas_ros ihmc_atlas_scs_demo01.launch use_local_build:=true
+```
+
 ### Tutorials
 - Control examples
   - [arm example](https://github.com/WPI-Humanoid-Robotics-Lab/tough/blob/kinetic-0.11.0/tough_examples/src/control_examples/arm_control_example.cpp)

tough_examples/CMakeLists.txt

@@ -10,10 +10,15 @@ find_package(catkin REQUIRED COMPONENTS
   tough_controller_interface
   tough_common
   tough_footstep
-  tough_perception_common
+  # tough_perception_common
   tough_moveit_planners
 )
 
+find_package(PkgConfig REQUIRED)
+
+pkg_check_modules(SBPL REQUIRED sbpl)
+include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
 
 catkin_package(
   INCLUDE_DIRS include
@@ -24,9 +29,9 @@ catkin_package(
                         tough_controller_interface
                         tough_common
                         tough_footstep
-                        tough_perception_common
+                        # tough_perception_common
                         tough_moveit_planners
-#  DEPENDS system_lib
+ DEPENDS SBPL
 )
 
 
@@ -39,6 +44,7 @@ catkin_package(
 include_directories(
  include
   ${catkin_INCLUDE_DIRS}
+  ${SBPL_INCLUDE_DIRS}
 )
 
 ######################
@@ -112,6 +118,10 @@ target_link_libraries(arm_interactive_example  ${catkin_LIBRARIES})
 ## Navigation examples ##
 #########################
 
+pkg_check_modules(SBPL REQUIRED sbpl)
+include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
+
 add_executable(walk_forward_example src/navigation_examples/walk_forward_example.cpp )
 add_dependencies(walk_forward_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(walk_forward_example  ${catkin_LIBRARIES})
@@ -136,13 +146,13 @@ target_link_libraries(walk_steps_example  ${catkin_LIBRARIES})
 #########################
 ## Perception examples ##
 #########################
-add_executable(multisense_image_example src/perception_examples/multisense_interface_example.cpp )
-add_dependencies(multisense_image_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(multisense_image_example  ${catkin_LIBRARIES})
+# add_executable(multisense_image_example src/perception_examples/multisense_interface_example.cpp )
+# add_dependencies(multisense_image_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# target_link_libraries(multisense_image_example  ${catkin_LIBRARIES})
 
-add_executable(multisense_pc_example src/perception_examples/multisense_interface_pc_example.cpp )
-add_dependencies(multisense_pc_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(multisense_pc_example  ${catkin_LIBRARIES})
+# add_executable(multisense_pc_example src/perception_examples/multisense_interface_pc_example.cpp )
+# add_dependencies(multisense_pc_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# target_link_libraries(multisense_pc_example  ${catkin_LIBRARIES})
 
 #########################
 ## Manipulation examples ##
@@ -152,9 +162,14 @@ add_executable(ik_example src/manipulation_examples/ik_example.cpp )
 add_dependencies(ik_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(ik_example  ${catkin_LIBRARIES})
 
+pkg_check_modules(SBPL REQUIRED sbpl)
+include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
+
 add_executable(motion_planner_example src/manipulation_examples/motion_planner_example.cpp )
 add_dependencies(motion_planner_example ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(motion_planner_example  ${catkin_LIBRARIES})
+target_link_libraries(motion_planner_example  ${catkin_LIBRARIES} ${SBPL_LIBRARY_DIRS})
+
 
 
 add_executable(taskspace_planner_example src/manipulation_examples/taskspace_planner_example.cpp )
@@ -178,9 +193,11 @@ install(TARGETS reset_robot arm_control_example head_control_example arm_control
                 chest_control_example nudge_local_example pelvis_control_example
                 neck_control_example gripper_control_example arm_interactive_example
                 walk_forward_example walk_goal_example walk_example walk_rotate_example walk_steps_example
-                multisense_image_example ik_example motion_planner_example taskspace_planner_example 
+                ik_example motion_planner_example taskspace_planner_example
                 taskspace_2stage_planner_example taskspace_planner_interactive_example follow_cartesian_path
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
+        # multisense_image_example
+

tough_gui/CMakeLists.txt

@@ -20,6 +20,12 @@ find_package(catkin REQUIRED COMPONENTS
   tough_footstep
 )
 
+find_package(PkgConfig REQUIRED)
+
+pkg_check_modules(SBPL REQUIRED sbpl)
+include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
+
 set(HEADER_FILES
   include/${PROJECT_NAME}/tough_gui.h
   include/${PROJECT_NAME}/configurationreader.h

tough_motion_planners/val_trac_ik/CMakeLists.txt

@@ -10,12 +10,18 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(orocos_kdl REQUIRED)
+find_package(PkgConfig REQUIRED)
+
+pkg_check_modules(SBPL REQUIRED sbpl)
+include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
 
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS tf trac_ik_lib tough_common tough_footstep
   DEPENDS orocos_kdl
+  DEPENDS SBPL
 )
 
 include_directories(include)

tough_navigation/tough_footstep/CMakeLists.txt

@@ -21,11 +21,11 @@ find_package(catkin REQUIRED COMPONENTS
   tough_common
   tough_controller_interface
   )
-#find_package(PkgConfig REQUIRED)
+find_package(PkgConfig REQUIRED)
 
-#pkg_check_modules(SBPL REQUIRED sbpl)
-#include_directories(${SBPL_INCLUDE_DIRS})
-#link_directories(${SBPL_LIBRARY_DIRS})
+pkg_check_modules(SBPL REQUIRED sbpl)
+include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
 
  add_message_files(DIRECTORY msg
   FILES
@@ -41,12 +41,13 @@ catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS message_runtime humanoid_nav_msgs tough_common
+  DEPENDS SBPL
   )
 
 ###########
 ## Build ##
 ###########
-include_directories( ${catkin_INCLUDE_DIRS} include)
+include_directories( ${catkin_INCLUDE_DIRS} ${SBPL_INCLUDE_DIRS} include)
 
 add_library(${PROJECT_NAME}
    src/robot_walker.cpp