SSR ROS Install Process

WARNING: This document is out of date. See the Documentation Packet for the most recent information

Pre-reqs

• Git installed on your PC
• Github account and access to the SSR repository
• Docker installed on your PC
• Internet access

Clone SSR Github Repo

1. Clone the SSR ROS Repo to your PC: git clone https://github.com/lyoder/SSR_ROS.git
2. This repository has all the files necessary to setup the SSR ROS system

Jetson Nano Setup

1. Follow the latest NVIDIA Jetson Nano 2GB JetPack Install Instructions to make a microSD card that you can boot your Jetson from.
2. Plug this SD card into the Jetson Nano and go through the setup process. This run is pretty straightforward. Accept all default settings.
3. Once you have a Jetson desktop ready to go and are connected to the internet, start by running sudo apt update to update all of your package repositories.
4. First you need to install ROS. Follow the instructions here. Choose to install ros-desktop at that step.
5. Make sure to complete all steps to the end of this document.
6. Next, you need to install the Azure Kinect SDK.
7. Run the following commands:
   1. curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
   2. sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/multiarch
8. 99-keys file workaround
9. Follow instructions in the last comment to set up the Azure Kinect ROS driver.
10. Once the ROS driver is installed in your workspace, activate the workspace, and launch the node using roslaunch azure_kinect_ros_driver driver.launch. You can use tab completion to get the exact name of the package if this command fails. (Type roslaunch azure_kinect then press tab to have it autocomplete)

ABB Controller Setup

1. Use the files in abb_driver/rapid and follow the instructions here.
2. Note the instructions here for running the ROS server on the controller.

Docker container setup

1. Inside the cloned GitHub folder, use docker build . -t ssr_ros to build the docker image. Read the comments in this file to get an idea of how the container is laid out.
2. Once this is complete, run docker run -dit ssr-ros to launch the container.
3. Use docker ps to get the container ID of the running container.
4. Use docker exec -it container_id bash to access the running container's terminal. Note: replace container_id with your container id from step 3
5. cd ssr_ros & catkin_make to build the workspace
6. source ./devel/setup.bash to activate
7. Visit ROS documentation for rosnode roscore rostopic and roslaunch to learn more about the workspace.
8. To execute a scan, you have to have a roscore running in one window. Open a new terminal on your PC, connect to the container again with step 4. Activate the workspace in this new window, and then use roslaunch abb_irb2400_moveit_config moveit_planning_execution.launch robot_ip:=100.0.0.1 where the IP address matches the IP of the robot. Finally, open a third terminal, connect to the container again. Acitvate the workspace. Run the scan script using rosrun ssr_scan Scanner.py you may have to move to src/ssr_scan/src and chmod +x Scanner.py to make the file executable.

New Setup

0. Clone this repo (https://github.com/AugmentedRoboticFabrication/AugRobFab-ROS) using git clone https://github.com/AugmentedRoboticFabrication/AugRobFab-ROS

1. Download Docker, create an account. Run command docker login to prevent permissions error. Inside the cloned GitHub folder, use docker build . -t ssr_ros to build the docker image. Read the comments in this file to get an idea of how the container is laid out.

2. Once this is complete, run docker run --rm -d ssr_ros:latest to launch the container.

3. Use docker ps to get the container ID of the running container.

4. Use docker exec -it container_id bash to access the running container's terminal. Note: replace container_id with your container id from step 3

5. Run source /opt/ros/melodic/setup.bash, then cd ssr_ros & catkin_make to build the workspace

6. source ./devel/setup.bash to activate

7. Visit ROS documentation for rosnode roscore rostopic and roslaunch to learn more about the workspace.

8. To execute a scan:

   a. Open a new terminal on your PC, connect to the container again with steps 4-6. Activate the workspace in this new window, and then use roslaunch abb_irb2400_moveit_config moveit_planning_execution.launch robot_ip:=192.168.125.1 sim:=false. The argument sim:=false means the command will attempt to connect to the IRC5 controller. To ensure this works, make sure you are following the instructions from http://wiki.ros.org/abb_driver/Tutorials/RunServer

   b. Open a third terminal, connect to the container again. Acitvate the workspace. Move to src/ssr_scan/src using cd src/ssr_scan/src and chmod +x Scanner.py to make the file executable. Finally, run the scan script using rosrun ssr_scan Scanner.py.