Hexapod

Installation

The installation assumes that Ubuntu 10.04 LTS is installed. If not you should install an Ubuntu version. Notice that the version of Ubuntu determines line 3 in the following code i.e. lucid.

# Setup your computer to accept software from ROS.org
# 10.04 (lucid)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

# Set up your keys
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

# Installation
sudo apt-get update
sudo apt-get install ros-electric-desktop-full
sudo apt-get install ros-electric-orocos-toolchain
sudo apt-get install ros-electric-rtt-common-msgs

# Create your personal ros directory
mkdir ~/ros_personal

echo "source /opt/ros/electric/setup.bash" >> ~/.bashrc
echo "export ROS_PACKAGE_PATH=/opt/ros/electric/stacks:~/ros_personal" >> ~/.bashrc
echo "export RTT_COMPONENT_PATH=/opt/ros/electric/stacks/orocos_toolchain/install/lib/orocos" >> ~/.bashrc
echo "source /opt/ros/electric/stacks/orocos_toolchain/env.sh" >> ~/.bashrc
. ~/.bashrc

# Build SOEM
cd ~/ros_personal
git clone http://git.mech.kuleuven.be/robotics/soem.git
cd soem
git checkout origin/electric
rosmake soem

# Build hexapod
cd ~/ros_personal
svn checkout http://hexapod.wtb.tue.nl/svn/hexapod ./hexapod
cd hexapod
rosrun rtt_rosnode create_rtt_msgs hexapod_msgs
rosmake

# You still should get
## (1) pr2_spring_transmission_example
## (2) orocos_components_dev

It is possible to put the code in a shell-file and run it.

SVN

The code can be found on: http://hexapod.wtb.tue.nl/svn/hexapod/.

To obtain an account you should contact Patrick van Brakel. To keep the svn clean i.e. no build, bin or lib files do the following:

sudo gedit /etc/subversion/config 

Uncomment, by removing the '#' and add

global-ignores = *.o *.lo *.la *.al .libs *.so *.so.[0-9]* *.a *.pyc *.pyo
  *.rej *~ #*# .#* .*.swp .DS_Store lib build bin .tb_history msg_gen srv_gen

Troubleshooting

• The Soem master could not initialize on eth1

1. Make sure that you connected to eth1 otherwise change it in the *.ops file.

To list the network ID's form your PC use the following command in the terminal:

ifconfig

• If the setcap cannot be found

install the setcap

sudo apt-get install libcap2-bin

• If the followin error occurs:

[ ERROR ][Soem] Could not initialize master on eth1

Set the permission for the deployer-gnulinux such that it can use ethernet.

roscd ocl
cd bin
sudo setcap cap_net_raw+ep ./deployer-gnulinux