RCommander

Installation Instructions

Make a directory to checkout code, cd to it then:

wget http://gt-ros-pkg.googlecode.com/git/rcommander/trf_rcommander.rosinstall
rosinstall . trf_rcommander.rosinstall 
rosinstall . /opt/ros/fuerte/

If rosinstall isn't installed, it will complain on line 2. Go ahead and install it with instructions on this page: rosinstall.

Follow instructions from the last step and insert the state that looks like this "source /home/ishwarya/svn/trf_rcommander/setup.bash" (substitute with your own) into your .bashrc file. After that, type the same command in your terminal (or open up a new one):

rosmake trf_learn

Do the same thing on the robot.

To Run

After ssh'ing into the robot, make sure that you have claimed the robot (robot claim) and started it (robot start). Then (ssh username@c1 if on basestation or laptop):

roslaunch trf_learn trf_rcommander.launch

Wait for it to fully start, make sure there aren't any weird error messages. It should say something like this:

[INFO] [WallTime: 1346435222.987008] left tip thresholds:[1691, 5903, 1829, 1946, 1960, 1775, 5908, 2153, 1951, 2186, 2028, 2258, 2154, 2096, 2437, 1878, 2145, 2398, 1932, 2329, 2797, 1940]
[INFO] [WallTime: 1346435222.987408] right tip thresholds:[2644, 5992, 1920, 2165, 2074, 2113, 5935, 2286, 2049, 2392,  2148, 2385, 2085, 2292, 2368, 2110, 2356, 2777, 2146, 2472, 2796, 2170]
done
[INFO] [WallTime: 1346435222.999198] done with ReactiveGrasper init for the l arm
[INFO] [WallTime: 1346435222.999561] Reactive grasp action ready
[INFO] [WallTime: 1346435223.010962] done with ReactiveGrasper init for the r arm
[INFO] [WallTime: 1346435223.011353] Reactive grasp action ready

Then, in a separate terminal, also ssh into the robot

roslaunch trf_learn trf_learn_supplement.launch

On your local machine run the following to launch rcommander itself.

rosrun trf_learn rcommander_trf.py

Finally, launch rviz (in a separate terminal locally):

rosrun rviz rviz

Setting things up on the robot

Run the first section of setup stuff, then setup your env.sh, add the following to your bashrc, replace USER_NAME with your username:

export ROS_ENV_LOADER=/u/USER_NAME/env.sh

Use the following as a template for your env.sh:

#!/bin/sh
if [ $# -eq 0 ] ; then
   /bin/echo "Entering environment at /opt/ros/fuerte"
   . /opt/ros/fuerte/setup.sh
   $SHELL
   /bin/echo "Exiting build environment at /opt/ros/fuerte"
else
   . /opt/ros/fuerte/setup.sh
   . /pr/1/haidai/vcs/robhum_11_11_2012/setup.sh
   exec "$@"
fi

Save it in your home directory and make it executable:

chmod ug+x ~/env.sh