Kinetic Migration

[NaderMansouri]

Description

Hi All, the Kinova team created a migration procedure for Movo. Here it is attached to this issue. If you have any questions, please publish an issue or directly contact [email protected]
Official migration of Indigo to Kinetic (1).pdf

[ruminahui]

Hi, I just went through the migration procedure described here. Unfortunately, the process was not as smooth as described in the pdf for my case. The following describes some of the errors I went through following this procedure.

1. Using MOVO2 as an internet bridge for MOVO1
   I followed the instructions described by the thread related to internet connection but still couldn't get internet connection on MOVO1. The only thing I was able to achieve by using the script was to ping the nameservers "8.8.8.8" and "8.8.4.4". My solution to this was to connect a USB-ETHERNET adapter directly to MOVO1.

2. Internet connection on MOVO1 once upgraded to Ubuntu 16
   Once upgraded to the new version of ubuntu, I was no longer able to connect to the internet on MOVO1 (even with a direct usb-ethernet adapter connection which was used for the upgrade). My solution to this was to comment the static ip assignment of "eth0" on "/etc/network/interfaces" and reboot. This allowed the other connections (wifi or ethernal usb-ethernet adapter) to be considered. Once I downloaded all the packages I needed, I restore "/etc/network/interfaces" with its original information and lost the internet connection. The same happened with the MOVO2 PC (which had a different configuration of eth0 on the "/etc/network/interfaces" file) I just applied the same process of commenting and later restoring for the purpose of upgrading the necessary packages.

3. Other problems that might occur during upgrade
   After the upgrade, I had the following issue on one of the MOVO PC's, which was not letting me boot properly. "https://askubuntu.com/questions/924170/error-on-ubuntu-boot-up-recovering-journal"
   This might have been caused by completely turning MOVO off/on as the reboot mechanism for a PC after an update (my guess based on this https://muaadelsharif.blogspot.com/2016/09/how-to-fix-and-prevent-devsda1.html)

4. Having "ppa:ubuntu-toolchain-r/test" in your list of ppa's might bring you trouble for the ubuntu upgrade
   The folllowing link might help in such case.
   "https://askubuntu.com/questions/777803/apt-relocation-error-version-glibcxx-3-4-21-not-defined-in-file-libstdc-so-6"

5. The "setup_movo_pc_migration" script is outdated with the ros server key
   Finally, something I noticed while running the "setup_movo_pc_migration" script after upgrade to Ubuntu 16, is that under the "Install ROS Kinetic" section of the script, the ros server key might be outdated (http://answers.ros.org/question/325039/apt-update-fails-cannot-install-pkgs-key-not-working/) This was causing some errors while installing ros kinetic packages.

6. Pyassimp installation in the migration script might be outdated
   There is a known bug with a python dependency (Pyassimp) of the Kinetic version of "MoveIt" that interferes with its correct operation.
   moveit_commander fails in Kinetic due to pyassimp regression moveit/moveit#86
   The migration script attempts to install the 3.3.1 version of this dependency which some have claim to solve the issue. However, I found that trying to control multiple MoveGroup interfaces in the same program (i.e having separate interfaces for each arm and the torso) results in errors. I was wondering if this can be verified by someone. I have tried with more recent versions of Pyassimp, but also get errors when trying to having multiple Move Group interfaces.

[pragathip]

Adding to the previous post, here are few other issues that we encountered.

1. Connecting MOVO2 to the network
   While connecting to our department's network, the DNS server connection was not being set through the DNS information in the DHCP response of our department server. We had to manually add information to /etc/resolv.conf to resolve the issue. At this point, we have a script that adds this information to the file at /etc/resolv.conf on startup. We are not sure what settings should be changed to have this information automatically detected and added by Movo's network hardware.

2. Using MOVO2 as an internet bridge for MOVO1
   The network name is a parameter in the script, setup_internet_on_movo. This information is also available in other threads that discuss connecting to Internet.

sudo iptables -t nat -A POSTROUTING -o eth1 -j MASQUERADE

3. Changes to "setup_movo_pc_migration" script
   Just like the previous post, we had to change the ROS server key from 421C365BD9FF1F717815A3895523BAEEB01FA116 to C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654.
   Additionally, the commands for installing libusb and OpenGL as part of the libfreenect2 installation are appropriate for Ubuntu 14, but not Ubuntu 16. This information is also available on the Github page for the Kinect driver, https://github.com/OpenKinect/libfreenect2.