RoPod/Software/Pico Setup

After a clean install, the following should be done to get pico up and running:

• Download the emc-install script and run it:

wget https://raw.githubusercontent.com/tue-robotics/emc-env/master/install.bash
source install.bash

• Add the following lines to the .bashrc file:

# Source the EMC environment
source /home/emc/.emc/env/setup.bash

export ROS_PACKAGE_PATH=~/ros/:$ROS_PACKAGE_PATH
export ROS_IP=192.168.44.81

alias pstart='roslaunch pico_bringup start.launch'

export DISPLAY=':0'
xhost +si:localuser:$USER

export LC_ALL="en_US.UTF-8"

alias buildit="rm -rf build; mkdir build; cd build; cmake ..; make; cd ../bin"

• Create a ros folder in the ~ directory and clone the pico drivers:

git clone https://github.com/tue-robotics/pico_bringup
git clone https://github.com/tue-robotics/pico_base_controller

Everybody must use the new tue-install and the build system Create target links using udev rules as super user:

sudo su

echo SUBSYSTEMS=="usb", ATTRS{idProduct}=="0043", ATTRS{idVendor}=="2341", SYMLINK+="ttyArduino0", GROUP="emc" > /etc/udev/rules.d/91-arduino.rules

echo SUBSYSTEMS=="usb", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="0666", SYMLINK+="ttyLaser0" > /etc/udev/rules.d/98-hokuyo.rules

Be careful: specify the group for the arduino-rules file.

Reboot to apply these changes.

Now, you can check if the links are present:

ls /dev/

If not, the numbering of the file names should be checked.

• Install the drivers for the LRF (here, the ros kinetic distribution is used):

sudo apt-get install ros-kinetic-urg-node

• Install ssh:

sudo apt install openssh-server

Now, using the "pstart"-command you should be able to get pico up and running. At this moment, the head-controller will give an error, while the asus camera is not installed either, but for the emc-course everything should work fine now.