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Configurar ROS NATMA

This document provides instructions for installing Anaconda, ROS, OpenCV, and other packages on Ubuntu. It also describes how to set up a ROS catkin workspace, compile packages, and run basic ROS nodes and launch files. Additional sections cover installing CUDA, creating a robot arm package, performing path planning, and setting up visual odometry with a Zed stereo camera.

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andresislas2107
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47 views6 pages

Configurar ROS NATMA

This document provides instructions for installing Anaconda, ROS, OpenCV, and other packages on Ubuntu. It also describes how to set up a ROS catkin workspace, compile packages, and run basic ROS nodes and launch files. Additional sections cover installing CUDA, creating a robot arm package, performing path planning, and setting up visual odometry with a Zed stereo camera.

Uploaded by

andresislas2107
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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sudo apt-get update

sudo apt-get upgrade

Instalar Anaconda:
cd /tmp

curl -O https://repo.anaconda.com/archive/Anaconda3-2019.03-Linux-x86_64.sh

sha256sum Anaconda3-2019.03-Linux-x86_64.sh

bash Anaconda3-2019.03-Linux-x86_64.sh

source ~/.bashrc

conda create --name my_env python=3.6.9

gedit ~/.bashrc, pegar conda activate my_env

https://www.digitalocean.com/community/tutorials/como-instalar-anaconda-en-ubuntu-18-04-
quickstart-es

Instalar Cuda si tienes tarjeta grafica


https://developer.nvidia.com/cuda-10.2-download-archive?target_os=Linux&target_arch=x86
_64&target_distro=Ubuntu&target_version=1804&target_type=deblocal
https://medium.com/@anarmammadli/how-to-install-cuda-10-2-cudnn-7-6-5-and-samples-on
-ubuntu-18-04-2493124478ca

Instalar ROS:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" >
/etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl # if you haven't already installed curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-melodic-desktop-full

apt search ros-melodic

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc


source ~/.bashrc

source /opt/ros/melodic/setup.bash

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool


build-essential

sudo apt install python-rosdep

sudo rosdep init

rosdep update
http://wiki.ros.org/melodic/Installation/Ubuntu

Crear ws
deshabilitar el ambiente virtual comentado el .bashrc

sudo apt-get install python3-pip python3-yaml

sudo pip3 install rospkg catkin_pkg

sudo apt-get install python-catkin-tools python3-dev python3-numpy

mkdir -p ~/catkin_ws/src

cd catkin_ws

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
-DPYTHON_INCLUDE_DIR=/usr/include/python3.6m
-DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so

catkin_make

cd src

git clone -b melodic https://github.com/ros-perception/vision_opencv.git

habilitar el ambiente virtual descomentando el .bashrc, instalar de nuevo lo de arriba en el


ambiente virtual base si es necesario
catkin_make
catkin_make install
echo $ROS_PACKAGE_PATH
https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

Open CV
instalar opencv para c++ es complicado, el paso anterior lo instala con version 3.2(creo)
instalar opencv para python se hace con pib, tiene que instalarse opencv y el contrib CON
LA MISMA VERSION

CERES
sudo apt-get install -y libgoogle-glog-dev
sudo apt-get install -y libatlas-base-dev

mkdir CERES #en home


cd CERES
git clone https://ceres-solver.googlesource.com/ceres-solver
tar zxf ceres-solver-2.1.0.tar.gz #encontrar el zip de la version deseada, 2.0.0 en el
proyecto, 2.1.0 tiene problemas, descomprimir
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.1.0
nproc #numero de nucleos de la pc
make -j16 #poner el j con el numero de nucleos
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
make install
http://ceres-solver.org/installation.html
https://groups.google.com/g/ceres-solver/c/rM_6rKh6z0I?pli=1

Errores:
https://answers.ros.org/question/311676/what-does-rospack-permission-denied-means/

no module name em
sudo apt-get install python3-empy

Lo que debe de llevar en .bashrc


conda activate alf

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

Descomrpimir copySRC, pegar my_robot en src


cambiar la versión de opencv a 3.0.2 y comentar opencv

Compilación

cd catkin_build_ws

catkin_make

catkin_make install

conda create --name my_env python=3.6

gedit ~/.bashrc

add conda activate my_env

cd catkin_build_ws

catkin_make
catkin_make install

descomentar opencv y hacer otra vez los dos pasos anteriores

source devel/setup.bash
roslaunch pkg file.launch

http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674

Brazo del robot del apm2:


copiar el pkg uwusaurius_weno y pegar el catkin_slam/src
catkin_make and catkin_make install
seguir tutorial siguiente, elegir src/uwusaurio_weno/urdf/robot_para_ahorcar_rucas.xacro, el
config se debe de guardar en una carpeta nueva dentro de src:
https://automaticaddison.com/how-to-set-up-and-control-a-robotic-arm-using-moveit-and-ros/
sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers
roslaunch uwusaurius_weno robot_para_ahorcar_rucas.launch
roslaunch brazo move_group.launch
rviz->fixed frame=odom->add->motion planning.
Change goal state to random valid and plan & execute

Path planning con my_robot:


greedy best first
potential field
dikstrak
A*=greedy best first+distrak

path planning 3D:


moveit:omsl

teb local planner:control moderno, path planning local, red neuronal, considera el
jerk(derivada de la aceleración), la determinación se hace por cierta frecuencia y se hace
global,

pip install empy


sudo apt-get install python3-empy

/catkin_source/src/launch/amcl.launch corre teb local planner+A*+filtro de particulas(ubicar


en el mundo y en el mapa).
sudo apt-get install ros-melodic-map-server
sudo apt-get install ros-melodic-move-base
sudo apt-get install ros-melodic-move-amcl

cd catkin_ws
source devel/setup.bash
roslaunch my_robot world_new.launch
roslaunch my_robot acml.launch
rviz->2D Nav Goal se puede poner un punto a donde mover
/catkin_source/src/my_robot/config/config tiene los archivos de parámetros de configuración.

Odometría Visual:
roslaunch zed_wrapper zed.launch

rviz
Fixed Frame→odom_zed
add→TF
add→PointCloud2
topic→zed/zed_node/point_cloud/cloud_registered
add→Camera
topic→zed/zed_node/left_raw/image_raw_color
topic→zed/zed_node/right_raw/image_raw_color

Para usar el IMU:


roslaunch uwusaurio_uwu rise_golem.launch

Para crear el pkg del proyecto:


cd catkin_ws/src
catkin_create_pkg ojos_de_uwusaurio std_msgs rospy roscpp pcl_conversions pcl_ros
sensor_msgs tf message_generation geometry_msgs nav_msgs cv_brdige image_transport
catkin_make

catkin_make install

rosrun ojos_de_uwusaurio ojos_uwu

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