- Install Ubuntu 18.04.6 following instructions here:https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview
- Install ROS Melodic following instructions here: http://wiki.ros.org/melodic/Installation/Ubuntu
- Make sure that you have added the following line at the end of your
~/.bashrc
file:source /opt/ros/melodic/setup.bash
- Install Node.js using the following commands:
curl -fsSL https://deb.nodesource.com/setup_current.x | sudo -E bash - sudo apt-get install -y nodejs
- Install rosbridge server:
sudo apt install ros-melodic-rosbridge-server
- Install web_video_server:
sudo apt install ros-melodic-web-video-server
- Install Frankapy following instructions here:https://iamlab-cmu.github.io/frankapy/
- Clone the repo using the following command:
git clone --recurse-submodules git@github.com:iamlab-cmu/iam-interface.git
- Make sure to enter into the same
virtualenv
you created during the Frankapy installation before running the following commands. - Install pillar-state:
cd pillar-state
sudo apt install libyaml-cpp-dev
./make_scripts/make_proto_cpp.sh --clean
./make_scripts/make_view_cpp.sh --clean
pip install -e python
./cpp/build/pillar_state_test
pytest --capture=no test/pillar_state_py_test.py
cd ..
- Install pillar-skills:
cd pillar-skills
pip install -e .
cd ..
- Install iam-skills:
cd iam-skills
pip install -e .
cd ..
- Install Open3d:
pip install open3d
- Install iam-domain-hander:
cd iam-domain-handler
pip install -e .
cd ..
- Install Bokeh:
pip install bokeh
- Install iam-bt:
cd iam-bt
pip install -e .
cd ..
- Install npm packages:
cd web-interface/javascript
npm install
- Modify Line 1 in
javascript/example/scripts.js
and set it to the ip address of the computer, which you can find using theifconfig
command.
let host_name = "localhost"
- Install DEXTR following the commands below.
cd ../..
git clone https://github.com/iamlab-cmu/DEXTR-KerasTensorflow.git
cd DEXTR-KerasTensorflow
pip install matplotlib opencv-python pillow scikit-learn scikit-image h5py tensorflow keras
cd models/
chmod +x download_dextr_model.sh
./download_dextr_model.sh
cd ../..
- Install the Azure Kinect Driver and Azure Kinect ROS Driver (Change 18.04 to either 16.04 or 20.04 if you are not using Ubuntu 18.04):
curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
sudo apt-get update
sudo apt install libk4a1.4 libk4a1.4-dev k4a-tools
cd catkin_ws/src
git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git
cd ..
catkin_make
cd /etc/udev/rules.d/
sudo wget https://raw.githubusercontent.com/microsoft/Azure-Kinect-Sensor-SDK/develop/scripts/99-k4a.rules
-
Unplug and Replug in the Azure Kinect into your computer.
-
Add the following line to your
~/.bashrc
file:
source /path/to/iam-interface/catkin_ws/devel/setup.bash
- Install the perception and camera-calibration packages:
cd /path/to/iam-interface
cd perception
pip install -e .
cd ..
cd camera-calibration
sudo apt install python3-tk python3-empy
-
Run the Camera Calibration following instructions https://github.com/iamlab-cmu/camera-calibration
-
If CV_bridge gives you issues, follow the following instructions.
cd catkin_ws/src
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout melodic
cd ../..
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
source /path/to/iam-interface/catkin_ws/devel/setup.bash
cd /opt/ros/melodic/lib/python2.7/dist-packages
sudo mv cv_bridge cv_bridge_2.7
-
Open a new terminal and run the following commands: (Terminal 1)
cd /path/to/iam-interface/web-interface/javascript source /path/to/virtualenv/bin/activate npm start
-
Navigate on a web browser to
http://<your_ip_address>:9080/javascript/example/index.html
-
Open a new terminal and run the following commands: (Terminal 2)
roscore
-
Open a new terminal and run the following commands: (Terminal 3)
roslaunch rosbridge_server rosbridge_websocket.launch
-
Open a new terminal and run the following commands: (Terminal 4)
rosrun web_video_server web_video_server
-
Open a new terminal and run the following commands: (Terminal 5)
roslaunch azure_kinect_ros_driver driver.launch
-
Open a new terminal and run the following commands: (Terminal 6)
cd /path/to/iam-interface/DEXTR-KerasTensorflow source /path/to/virtualenv/bin/activate python dextr_ros_service.py
-
Open a new terminal and run the following commands: (Terminal 7)
cd /path/to/iam-interface/iam-bokeh-server source /path/to/virtualenv/bin/activate bokeh serve --allow-websocket-origin='*' bokeh_server.py
-
Open a new terminal and run the following commands: (Terminal 8)
cd /path/to/frankapy ./bash_scripts/start_control_pc.sh -i <control_pc_ip_address>
-
Open a new terminal and run the following commands: (Terminal 9)
cd /path/to/iam-interface/iam-vision
source /path/to/virtualenv/bin/activate
python iam_vision_server.py
- (Optional) Open a new terminal and run the following commands: (Terminal 10)
cd /path/to/iam-interface/voxel_publisher
source /path/to/virtualenv/bin/activate
python scripts/point_cloud_to_voxel.py
- Open a new terminal and run the following commands: (Terminal 11)
cd /path/to/iam-interface/iam-domain-handler
source /path/to/virtualenv/bin/activate
./examples/RunAll.sh
- Open a new terminal and run the following commands: (Terminal 12)
cd /path/to/iam-interface/iam-bt
source /path/to/virtualenv/bin/activate
python examples/main_bt.py