Manual INSTALL

Manual installation of Operating System (not updated)

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

Ubuntu 14.04 and ROS Indigo

Raspberry Pi3 Model B (v1.2 2015)

Ubuntu Mate 16.04 and ROS Kinetic image

Raspbian Jessie and ROS Indigo from source

MARRtino Ubuntu Mate 16.04 image

$ 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.

SOFTWARE LIBRARIES & PACKAGES

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

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


PACKAGES UPDATE

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' )