Manual INSTALL

To install MARRtino software on a Linux OS equipped with docker, download the repository

https://bitbucket.org/iocchi/marrtino_apps/

and follow instructions in the `docker` folder. 

You will need a good amount of disk space and a reliable and fast Internet connection.

For a full set-up of the system from scratch, follow these instructions. Skip this section if you have pre-installed OS.

Note: some experience in setting up Linux OS is required, the procedure may differ on specific machines.

Laptop

Ubuntu 16.04 and ROS Kinetic

• http://wiki.ros.org/ROS/Installation/

Ubuntu 14.04 and ROS Indigo

• http://wiki.ros.org/indigo/Installation

Raspberry Pi3 Model B (v1.2 2015)

Ubuntu Mate 16.04 and ROS Kinetic image 

• http://www.german-robot.com/2016/05/26/raspberry-pi-sd-card-image/

Raspbian Jessie and ROS Indigo from source

• http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi

MARRtino Ubuntu Mate 16.04 image

• MARRtino image Raspberry PI3 v1.0 (3.3 GB) - User: ubuntu Password: raspberry

    $ gunzip <image.gz>

    $ sudo dd if=<image> of=<device> bs=1M

Network configuration

If you are using the Raspberry PI3 image provided above, you have to configure the network. The easiest way is to connect the raspberry to a monitor and use standard Ubuntu utilities to configure wireless networks.

Several ROS packages and Linux libraries are needed depending on the applications you want to run on MARRtino. If you are reading this section, we expect you have enough expertise to install available ROS packages and Linux libraries if needed. If not, please use pre-installed software described above in this page.

srrg_orazio

Option 1: AUTOMATIC SCRIPT

Download and run the script   marrtino_srrg_orazio.bash

wget http://www.diag.uniroma1.it/~iocchi/marrtino/marrtino_srrg_orazio.bash

Check the first two lines of the script to set folders suitable for your environment.

Option 2: MANUAL SETUP

srrg manual installation (for expert users)

ROS packages

git repositories to clone in ROS workspace and compile with catkin_make

https://bitbucket.org/iocchi/stage_environments.git

spencer_tracking_msgs from https://github.com/spencer-project/spencer_people_tracking.git

https://github.com/LCAS/spqrel_navigation.git

https://bitbucket.org/iocchi/laser_analysis.git

https://bitbucket.org/iocchi/rococo_navigation.git

https://github.com/Imperoli/gradient_based_navigation

MARRtino Apps

marrtino_apps is a collection of scripts and configuration files to run several functionalities on MARRtino robot. Please refer to README files in this package to understand available functionalities and how to use them.

OpenNI2 library for Xtion sensor

• OpenNI2 libraries - https://github.com/occipital/openni2

for Raspberry PI 3 use https://github.com/kalectro/OpenNI2 

After compiling, do the following

• sudo mkdir /usr/lib/OpenNI2/Drivers

• sudo cp Bin/Arm-Release/OpenNI2/Drivers/lib* /usr/lib/OpenNI2/Drivers/

• Add to your .bashrc file

export OPENNI2_DRIVERS_PATH=/usr/lib/OpenNI2/Drivers

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/OpenNI2/Drivers

Note: for using Kinect instead of Xtion try this link (not tested)

http://dustycodes.blogspot.it/2016/07/install-ros-with-kinect-on-raspberry-pi.html 

Do it only if you know what you are doing.

To update software packages:

1. Go to the 'src' directory  (cd ~/src)

2. Go to the directory of the package you want to update

3. Use the command 'git pull' to update the package

4. Repeat steps 2 and 3 for every package you want to update

5. Go to the 'ros/catkin' directory (cd ~/ros/catkin)

6. Run 'catkin_make' (for Raspberry use 'catkin_make -j1' )