--- Driver brightness

	sudo add-apt-repository ppa:apandada1/brightness-controller
	sudo apt-get update
	sudo apt-get install brightness-controller-simple
	sudo apt-get install brightness-controller

--- Additional OS

	sudo usermod -a -G dialout $USER
	sudo reboot
	sudo apt install net-tools
	sudo apt install openssh-server
	sudo apt install apache2
	sudo apt install g++ git
	sudo apt install curl

--- Dynamixelsdk

https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp_linux/

	$ sudo apt-get install gcc-5
	$ sudo apt-get install build-essential
	$ sudo apt-get install gcc-multilib g++-multilib

	/DynamixelSDK/c++/build/linux64$ make

Copy (Install) the Library to the Root Directory

	/DynamixelSDK/c++/build/linux64$ sudo make install

example

	DynamixelSDK/c++/example/protocol1.0/read_write/linux64$ make && ./read_write

--- OP3_patch

https://emanual.robotis.com/docs/en/platform/op3/recovery/#recovery-of-robotis-op3

	$ sudo apt-get update
	$ sudo apt install samba samba-common python-glade2 system-config-samba

*Samba

Installation


	$ sudo apt install samba samba-common python-glade2 system-config-samba


Configuration

	$ sudo touch /etc/libuser.conf
	$ sudo system-config-samba

	Go to Preferences > Samba Users…
	    Click Add User button
	    Select the Unix Username (ex : rscuad)
	    Enter the Windows Username (ex : rscuad)
	    Enter the Password (ex : rscuad)
	Click Add Share button
	    In the Basic tab
	        Enter / in the Directory.
	        Check on the Writable / Visible option.
	    In the Access tab
	        Select Only allow access to specific users
	        Select samba user

*ROS

http://wiki.ros.org/melodic/Installation/Ubuntu

*Installing additional applications

	$ sudo apt install v4l-utils
	$ sudo apt install madplay mpg321

*Installing ROS packages

	$ cd ~/catkin_ws/src
	$ git clone https://github.com/ROBOTIS-GIT/face_detection.git
	$ cd ~/catkin_ws
	$ catkin_make

robot_upstart

	$ sudo apt install ros-melodic-robot-upstart

usb_cam

	$ cd ~/catkin_ws/src
	$ git clone https://github.com/bosch-ros-pkg/usb_cam.git
	$ cd ~/catkin_ws
	$ catkin_make
	$ sudo apt install v4l-utils

qt_ros

	$ sudo apt install ros-melodic-qt-ros

Package for footstep planner. Install prerequisite packages

	$ sudo apt-get install ros-melodic-map-server
	$ sudo apt-get install ros-melodic-humanoid-nav-msgs [ paket tidak ada ]

patch manual

	cd ~/catkin_ws/src/
	git clone https://github.com/ahornung/humanoid_msgs.git
	cd ../
	catkin_make 

continue again

	cd ~/catkin_ws/src/
	$ sudo apt-get install ros-melodic-nav-msgs
	$ sudo apt-get install ros-melodic-octomap
	$ sudo apt-get install ros-melodic-octomap-msgs
	$ sudo apt-get install ros-melodic-octomap-ros
	$ sudo apt-get install ros-melodic-octomap-server

humanoid_navigation

https://github.com/sbpl/sbpl

	$ sudo apt-get install ros-melodic-sbpl

Install humanoid_navigation

	$ cd ~/catkin_ws/src
	$ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git
	$ cd ~/catkin_ws

Packages for web_setting_tool

	$ sudo apt install ros-melodic-rosbridge-server ros-melodic-web-video-server

Download sources from Github.

	$ cd ~/catkin_ws/src
	$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common.git
	$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git
	$ cd ~/catkin_ws
	$ catkin_make

*Simulation

Gazebo

	$ sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers
	$ sudo apt install ros-melodic-joint-state-publisher-gui

fix warning simulation Rviz

just change ~/catkin_ws/src/ROBOTIS-OP3-Demo/op3_bringup/launch/op3_bringup_visualozation.launch

	<?xml version="1.0" ?>
	<launch>
	  <param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'"/>

	  <!-- Send fake joint values and monitoring present joint angle -->
	  <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher">
	    <param name="use_gui" value="TRUE"/>
	    <rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
	  </node>

	  <!-- Combine joint values -->

	  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
	    <remap from="/joint_states" to="/robotis/present_joint_states" />
	  </node>

	  <!-- Show in Rviz   -->
	  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
	</launch>

root runtime permission

	$ sudo gedit ~/.bashrc
	
		export XDG_RUNTIME_DIR=/tmp/runtime-root 
		export RUNLEVEL=3
		
	$ source ~/.bashrc

*ETC Setting

	$ cd ~/catkin_ws/src/ROBOTIS-OP3-Tools/op3_web_setting_tool
	$ sudo cp -r ./html /var/www

Author

Danu andrean