satoshi-ota / pyramid_robotics

AIlab Pyramid Robotics Repository for Research

Set up the pyramid robotics

Install

This package depends on third-party package.

• Rotors Simulation https://github.com/ethz-asl/rotors_simulator
• neo Simulation https://github.com/neobotix/neo_simulation
• ifopt https://github.com/ethz-adrl/ifopt

1. Install and initialize ROS melodic desktop full, additional ROS packages, catkin-tools, and wstool:

$ sudo apt-get update
$ sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros python-wstool python-catkin-tools protobuf-compiler
$ sudo apt-get install libgeographic-dev ros-melodic-geographic-msgs  # Required for mavros.
# For melodic: sudo apt-get install libgeographiclib-dev
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/melodic/setup.bash

2. If you don't have ROS workspace yet you can do so by

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ wstool init

3. Get the rotors_simulator and additional dependencies

$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/rotors_simulator.git
$ git clone https://github.com/ethz-asl/mav_comm.git
$ git clone https://github.com/ethz-asl/glog_catkin.git
$ git clone https://github.com/catkin/catkin_simple.git
$ sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev

4. Get the neo_simulator and additional dependencies

$ git clone https://github.com/neobotix/neo_simulation.git

5. Get the ifopt and additional dependencies

$ git clone https://github.com/ethz-adrl/ifopt.git
$ sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev

6. Build your workspace with python_catkin_tools (therefore you need python_catkin_tools)

$ cd ~/catkin_ws/
$ catkin init  # If you haven't done this before.
$ catkin build

Modified package ifopt

1. Add member function ~/catkin_ws/src/ifopt/ifopt_core/src/problem.cc

void
Problem::Clear()
{
    constraints_.ClearComponents();
}

~/catkin_ws/src/ifopt/ifopt_core/include/ifopt_core/problem.h

void Clear();

2. Build

$ cd ~/catkin_ws/
$ catkin build

Build the pyramid_robotics

FInally, we build pyramid_robotics!

$ cd ~/catkin_ws/src
$ git clone https://github.com/satoshi-ota/pyramid_robotics.git
$ cd ..
$ catkin build