Spring 2022 - CS592: Robot Learning and Interaction

Installation

Pre-requites for this tutorial

Please, install Ubuntu 20.04 and ROS Noetic with dependencies:

sudo apt-get install ros-noetic-driver-common ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-ros-control ros-noetic-control-toolbox ros-noetic-realtime-tools ros-noetic-ros-controllers ros-noetic-xacro -y
sudo pip3 install beizer bezier

Before install the Baxter simulator you need to install libqt4-dev:

sudo add-apt-repository ppa:rock-core/qt4
sudo apt update
sudo apt install libqt4-dev

Installation of your project repository

source /opt/ros/noetic/setup.sh

Move to any directory you want to place the class code. Then, you can create a workspace,

mkdir -p ./catkin_ws/src
cd ./catkin_ws/src/
catkin_init_workspace

Let's clone the the class repo!

git clone git@github.com:hyunjongL/cs592_RLI.git

To simulate a Baxter robot using a Gazebo simulator, you have to install the simulation-related packages,

cd cs592_RLI
wstool init .
wstool merge third_party_repos.rosinstall
wstool update

Then, install dependencies and build it!

cd ../..
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
catkin_make

If you want catkin_build, you can use it instead of catkin_make.

Lastly, load the new environmental variables and also add to path the environmental setup to your bashrc

cp ./src/cs592_RLI/baxter.sh ./
./baxter.sh sim

You can verify your ROS install by confirming the environmental variables

env | grep ROS

Make sure that if ROS_MASTER_URI and ROS_ROOT, ETC are properly setup.

Assignment Links

• Assignment I
• Assignment II
• Assignment III

ETC

Command-line tools

There are many useful command-line tools like rostopic, rqt_graph, rosbag, etc. Please, see http://wiki.ros.org/ROS/CommandLineTools

Tutorials for Baxter

The instructions for the the Baxter can be found in here: http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator. Please, note that the instruction works for ROS Melodic only.